Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.h

 * @brief Definitions for using the BOM

 * 

 * This file contains definitions for using the Bearing and 

 * Orientation Module (BOM).

 *

 * @author Colony Project, CMU Robotics Club

 *

 **/

#ifndef _BOM_H

#define _BOM_H

/**

 * @addtogroup bom

 * @{

 **/

/** @brief Include all elements in the 16-bit bitfield **/

#define BOM_ALL 0xFFFF

/** @brief Original BOM - No Range, No Individual LED control **/

#define BOM     0

/** @brief BOM 1.5 - No Range, Individual LED control **/

#define BOM15   1

/** @brief RBOM - Range, Individual LED control **/

#define RBOM    2

/** @brief Initialize the bom according to bom type **/

void bom_init(char type);

/** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/

void bom_refresh(int bit_field);

/** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/

int bom_get(int which);

/** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/

int bom_get_max(void);

/** @brief Turns on the selected bom leds. Only works with BOM_ALL if using the original bom. **/

void bom_leds_on(int bit_field);

/** @brief Turns off the selected bom leds. Only works with BOM_ALL if using the original bom. **/

void bom_leds_off(int bit_field);

/** @brief (DEPRECATED) Wrapper function. See bom_refresh and bom_get_max **/

int get_max_bom(void);

/** @brief (DEPRECATED) Wrapper function. See bom_leds_on. **/

void bom_on(void);

/** @brief (DEPRECATED) Wrapper function. See bom_leds_off. **/

void bom_off(void);

/** @} **/

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file time.h

 * @brief Contains time-related functions and definitions

 *

 * Contains functions and definitions for dealing with time,

 * namely delay_ms and the realtime clock.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _TIME_H_

#define _TIME_H_

/*	Predefined times for prescale_opt in time.c.

	To make you own, know that a pulse is 1/16th of a second. You cannot get less than this. To get more, you need

	to know how many 16ths of a second are in the time you want. (Time_desired * 16 = prescaler_opt)

*/

/**

 * @addtogroup time

 * @{

 **/

/** @brief A sixteenth of a second **/

#define SIXTEENTH_SECOND 1

/** @brief An eighth of a second **/

#define EIGTH_SECOND 2

/** @brief A quarter of a second **/

#define QUARTER_SECOND 4

/** @brief Half of a second **/

#define HALF_SECOND	8

/** @brief One second **/

#define SECOND 16

/** @brief Two seconds **/

#define TWO_SECOND 32

/** @brief Four seconds **/

#define FOUR_SECOND 64

/** @brief Delay execution for the specified time **/

void delay_ms(int ms) ;

/** @brief Enable the realtime clock **/

void rtc_init(int prescale_opt, void (*rtc_func)(void));

/** @brief Reset the counter of the realtime clock **/

void rtc_reset(void);

/** @brief Get the value of the realtime clock. **/

int rtc_get(void);

/** @} **/

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/** @file i2c.h

 *  @brief Header file for I2C

 *

 *  Contains functions for I2C.

 *

 *  @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club

 **/

#ifndef _I2C_H_

#define _I2C_H_

#include <stddef.h>

/** @brief Address of slave receive handler function **/

typedef void (*fun_srecv_t)(char);

/** @brief Address of master receive handler function**/

typedef int (*fun_mrecv_t)(char);

/** @brief Address of slave send handler function**/

typedef char (*fun_send_t)(void);

int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);

int i2c_send(char dest, char* data, size_t bytes);

int i2c_request(char dest);

void i2c_packet_rec (char i2c_byte);

void i2c_packet_sniff(char data);

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file battery.h

 * @brief Definitions for checking battery voltage.

 * 

 * Contains definitions for checking the voltage of the 

 * battery.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _BATTERY_H_

#define _BATTERY_H_

/**

 * @addtogroup battery

 * @{

 **/

/** @brief Normal battery voltage. (6 V) **/

#define BATTERY_NORMALV 154

/** @brief Charging battery voltage. (7 V) **/

#define BATTERY_CHARINGV 179

/** @brief Low battery voltage. ( < 6 V) **/

#define BATTERY_LOWV 152

/** @brief Read the battery voltage. **/

int battery8(void);

/** @brief Read the battery voltage in deciVolts. **/

int battery(void);

/** @brief Check if the battery is low. **/

char battery_low(void);

/** @brief Get an average battery voltage reading. **/

int battery8_avg(int n_samples);

/** @} **/ //end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file lcd.h

 * @brief Contains definitions for dealing with the LCD screen.

 * 

 * Contains definitions and functions for dealing with the 

 * LCD screen.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _LCD_H_

#define _LCD_H_

/**

 * @addtogroup lcd

 * @{

 **/

/** @brief Initialize the LCD screen **/

void lcd_init(void);

/** @brief Clear the LCD screen **/

void lcd_clear_screen( void );

/** @brief Print a char to the LCD screen **/

void lcd_putc(char c);

/** @brief Print a string to the LCD screen **/

void lcd_puts(char *s);

/** @brief Print an int to the LCD screen **/

void lcd_puti(int value);

/** @brief Set the current cursor position **/

void lcd_gotoxy(int x, int y);

/** @} **/

#endif

/**

 * 

 * @file encoders.h

 * @brief Contains functions for reading encoder values.

 *

 * Contains high and low level functions for reading encoders

 * including reading out total distance covered, and 

 * eventually velocity.

 *	

 * @author Colony Project, CMU Robotics Club

*/

/**

 * @addtogroup encoders

 * @{

 **/

#ifndef __ENCODERS_H__

#define __ENCODERS_H__

#ifndef LEFT

	#define LEFT 0

#endif

#ifndef RIGHT

	#define RIGHT 1

#endif

/** @brief Magnet misaligned - likely distance from encoder problem. **/

#define ENCODER_MAGNET_FAILURE 1025

/** @brief Encoder misaligned - likely on XY plane. **/

#define ENCODER_MISALIGNED 1027

/** @brief Not enough time has passed - encoders not initialized in hardware. **/

#define ENCODER_DATA_NOT_READY 1026

//delay_ms argument after a full read is complete

#define ENCODER_DELAY 20

#define MIN_V (-100)

#define MAX_V 100

//Data invalid flags (hardware failure):

#define OCF _BV(4)

#define COF _BV(3)

//Data invalid alarm (May be invalid):

#define LIN _BV(2)

#define MagINCn _BV(1)

#define MagDECn _BV(0)

#define BUFFER_SIZE 23

/** @brief Initialize encoders. **/

void encoders_init(void);

/** @brief Read instantaneous encoder value. **/

int encoder_read(char encoder);

/** @brief Get total distance traveled. **/

int encoder_get_dx(char encoder);

/** @brief Reset distance counter. **/

void encoder_rst_dx(char encoder);

/** @brief Get time count: The number of encoder reads that have occurred. **/

int encoder_get_tc(void);

/** @brief Reset the time count. **/

void encoder_rst_tc(void);

/** @brief Waits for the next n encoder reading, then returns. **/

void encoder_wait( int nReadings );

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

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file motor.h

 * @brief Contains definitions for controlling the motors

 *

 * Contains definitions and functions for controlling

 * the motors.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 **/

#ifndef _MOTOR_H

#define _MOTOR_H

#include <avr/io.h>

/**

 * @addtogroup motors

 * @{

 **/

/** @brief make the motors go forwards **/

#define FORWARD 1

/** @brief make the motors go backwards **/

#define BACKWARD 0

/** @brief Initialize the motors **/

void motors_init(void);

/** @brief Set speed and direction of motor1 **/

void motor1_set(int direction, int speed);

/** @brief Set speed and direction of motor2 **/

void motor2_set(int direction, int speed);

/** @brief Turn the motors off **/

void motors_off(void);

/**@}**/ // end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * 

 * @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

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * 

 * @file analog.h

 * @brief Contains functions and definitions for using the ADC

 * 

 * Contains definitions and function prototypes for using the

 * ADC to detect analog signals on pins AN0 - AN7.

 * AN6 and AN7 are used for the wheel and battery.

 * The pins labeled E6 and E7 are external interrupt pins and are not related 

 * to analog.

 * @author Colony Project, CMU Robotics Club, based on firefly

 * code by Tom Lauwers

 */

#ifndef _ANALOG_H

#define _ANALOG_H

#include <inttypes.h>

/**

 * @addtogroup analog

 * @{

 **/

/** @brief Analog port 0 **/

#define AN0 0x00

/** @brief Analog port 1 **/

#define AN1 0x01

/** @brief Analog port 2 **/

#define AN2 0x02

/** @brief Analog port 3 **/

#define AN3 0x03

/** @brief Analog port 4 **/

#define AN4 0x04

/** @brief Analog port 5 **/

#define AN5 0x05

/** @brief Analog port 6 **/

#define AN6 0x06

/** @brief Analog port 7 **/

#define AN7 0x07

/** @brief Analog port 8 **/

#define AN8 0x08

/** @brief Analog port 9 **/

#define AN9 0x09

/** @brief Analog port 10 **/

#define AN10 0x0A

/** @brief Analog port 11 **/

#define AN11 0x0B

/** @brief Analog port 12 **/

#define AN12 0x0C

/** @brief Analog port 13 **/

#define AN13 0x0D

/** @brief Analog port 14 **/

#define AN14 0x0E

/** @brief Analog port 15 **/

#define AN15 0x0F

/** @brief BOM_PORT analog port for BOM **/

#define BOM_PORT AN0

/** @brief EXT_MUX analog port **/

#define EXT_MUX AN7

/** @brief Analog port for the wheel **/

#define WHEEL_PORT AN10

/** @brief Analog port for the battery voltage detector **/

#define BATT_PORT  AN11

#define ADC_START 1

#define ADC_STOP 0

#define ADMUX_OPT 0x60

/** @brief Struct to hold the value of a particular analog port **/

typedef struct {

  uint8_t adc8;

  uint16_t adc10;

} adc_t;

/** @brief Initialize analog ports. Will start running a loop

    if start_conversion is ADC_START.**/

void analog_init(int start_conversion);

/** @brief starts the analog loop. Doesn't do anything if the loop is already running. **/

void analog_start_loop(void);

/** @brief Stops the analog loop. Doesn't do anything if the loop is already stopped. **/

void analog_stop_loop(void);

/** @brief Returns an 8-bit analog value from the look up table. Use this instead of analog_get8. **/

unsigned int analog8(int which);

/** @brief Returns an 10-bit analog value from the look up table. Use this instead of analog_get10. **/

unsigned int analog10(int which);

/** @brief Read the position of the wheel. **/

int wheel(void);

/** @brief Read an 8-bit number from an analog port. Loop must be stopped for this to work. **/

unsigned int analog_get8(int which);

/** @brief Read a 10-bit number from an analog port. Loop must be stopped for this to work. **/

unsigned int analog_get10(int which);

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

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file buzzer.h

 * @brief Contains definitions for using the buzzer.

 *

 * Contains definitions for using the buzzer built into

 * the colony robots.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _BUZZER_H_

#define _BUZZER_H_

/**

 * @addtogroup buzzer

 * @{

 **/

//Musical note definitions

//Source: http://www.answers.com/topic/piano-key-frequencies

/** @brief Middle C **/

#define	C4	260 //Middle C

/** @brief C# **/

#define	C4s	277 //C sharp

/** @brief D **/

#define	D4	294

/** @brief D# **/

#define	D4s	311

/** @brief E **/

#define	E4	330

/** @brief F **/

#define	F4	349

/** @brief F# **/

#define	F4s	370

/** @brief G **/

#define	G4	392

/** @brief G# **/

#define	G4s	415

/** @brief A **/

#define	A4	440

/** @brief A# **/

#define	A4s	466

/** @brief B **/

#define	B4	494

/** @brief C **/

#define	C5	523

/** @brief Initialize the buzzer. **/

void buzzer_init(void);

/** @brief Set the value the buzzer plays. **/

void buzzer_set_val(unsigned int buzz_value);

/** @brief Set the frequency the buzzer plays. **/

void buzzer_set_freq(unsigned int buzz_freq);

/** @brief Play a frequency for a specified time. **/

void buzzer_chirp(unsigned int ms, unsigned int buzz_freq);

/** @brief Turn the buzzer off. **/

void buzzer_off(void); 

/** @} **/ //end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file dio.h

 * @brief Definitions for digital input / output

 *

 * This file contains definitions and functions for dealing

 * with digital input and output.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 **/

#ifndef _DIO_H

#define _DIO_H

/*

  these are ALL the pins

  don't use unless you know what you're doing

*/

/*

  DIO pins on new dragonfly boards are shown below:

  -----------------------------------------------

  | _PIN_E6 | _PIN_E7 | _PIN_D2 | _PIN_D3 | VCC |

  -----------------------------------------------

  | _PIN_E2 | _PIN_E3 | _PIN_E4 | _PIN_E5 | GND |

  -----------------------------------------------

*/

/** @brief Port A **/

#define _PORT_A 1

/** @brief Port B **/

#define _PORT_B 2

/** @brief Port C **/

#define _PORT_C 3

/** @brief Port D **/

#define _PORT_D 4

/** @brief Port E **/

#define _PORT_E 5

/** @brief Port F **/

#define _PORT_F 6

/** @brief Port G **/

#define _PORT_G 7

/** @brief Pin A0 **/

#define _PIN_A0 8

/** @brief Pin A1 **/

#define _PIN_A1 9

/** @brief Pin A2 **/

#define _PIN_A2 10

/** @brief Pin A3 **/

#define _PIN_A3 11

/** @brief Pin A4 **/

#define _PIN_A4 12

/** @brief Pin A5 **/

#define _PIN_A5 13

/** @brief Pin A6 **/

#define _PIN_A6 14 

/** @brief Pin A7 **/

#define _PIN_A7 15

/** @brief Pin B0 **/

#define _PIN_B0 16

/** @brief Pin B1 **/

#define _PIN_B1 17

/** @brief Pin B2 **/

#define _PIN_B2 18

/** @brief Pin B3 **/

#define _PIN_B3 19

/** @brief Pin B4 **/

#define _PIN_B4 20

/** @brief Pin B5 **/

#define _PIN_B5 21

/** @brief Pin B6 **/

#define _PIN_B6 22

/** @brief Pin B7 **/

#define _PIN_B7 23

/** @brief Pin C0 **/

#define _PIN_C0 24

/** @brief Pin C1 **/

#define _PIN_C1 25

/** @brief Pin C2 **/

#define _PIN_C2 26

/** @brief Pin C3 **/

#define _PIN_C3 27

/** @brief Pin C4 **/

#define _PIN_C4 28

/** @brief Pin C5 **/

#define _PIN_C5 29

/** @brief Pin C6 **/

#define _PIN_C6 30

/** @brief Pin C7 **/

#define _PIN_C7 31

/** @brief Pin D0 **/

#define _PIN_D0 32  // pin DIO6 on new dragonfly boards

/** @brief Pin D1 **/

#define _PIN_D1 33  // pin DIO7

/** @brief Pin D2 **/

#define _PIN_D2 34

/** @brief Pin D3 **/

#define _PIN_D3 35

/** @brief Pin D4 **/

#define _PIN_D4 36

/** @brief Pin D5 **/

#define _PIN_D5 37

/** @brief Pin D6 **/

#define _PIN_D6 38

/** @brief Pin D7 **/

#define _PIN_D7 39

/** @brief Pin E0 **/

#define _PIN_E0 40

/** @brief Pin E1 **/

#define _PIN_E1 41

/** @brief Pin E2 **/

#define _PIN_E2 42  // pin DIO0

/** @brief Pin E3 **/

#define _PIN_E3 43  // pin DIO1

/** @brief Pin E4 **/

#define _PIN_E4 44  // pin DIO2

/** @brief Pin E5 **/

#define _PIN_E5 45  // pin DIO3

/** @brief Pin E6 **/

#define _PIN_E6 46  // pin DIO4

/** @brief Pin E7 **/

#define _PIN_E7 47  // pin DIO5

/** @brief Pin F0 **/

#define _PIN_F0 48

/** @brief Pin F1 **/

#define _PIN_F1 49

/** @brief Pin F2 **/

#define _PIN_F2 50

/** @brief Pin F3 **/

#define _PIN_F3 51

/** @brief Pin F4 **/

#define _PIN_F4 52

/** @brief Pin F5 **/

#define _PIN_F5 53

/** @brief Pin F6 **/

#define _PIN_F6 54

/** @brief Pin F7 **/

#define _PIN_F7 55

/** @brief Pin G0 **/

#define _PIN_G0 56

/** @brief Pin WR **/

#define _PIN_WR 56

/** @brief Pin G1 **/

#define _PIN_G1 57

/** @brief Pin RD **/

#define _PIN_RD 57

/** @brief Pin G2 **/

#define _PIN_G2 58

/** @brief Pin ALE **/

#define _PIN_ALE 58

/** @brief Pin G3 **/

#define _PIN_G3 59

/** @brief Pin TOSC2 **/

#define _PIN_TOSC2 59

/** @brief Pin G4 **/

#define _PIN_G4 60

/** @brief Pin TOSC1 **/

#define _PIN_TOSC1 60

//#define _PIN_G5 61

//#define _PIN_G6 62

//#define _PIN_G7 63

/*

  These are the header pins (the ones you can connect things to)

  Feel free to use these

*/

/**

 * @addtogroup dio

 * @{

 **/

/** @brief Pin A0 **/

#define PIN_A0 8

/** @brief Pin A1 **/

#define PIN_A1 9

/** @brief Pin A2 **/

#define PIN_A2 10

/** @brief Pin A3 **/

#define PIN_A3 11

/** @brief Pin A4 **/

#define PIN_A4 12

/** @brief Pin A5 **/

#define PIN_A5 13

/** @brief Pin A6 **/

#define PIN_A6 14 

/** @brief Pin A7 **/

#define PIN_A7 15

/** @brief Pin SS **/

#define PIN_SS 16

/** @brief Pin SCK **/

#define PIN_SCK 17

/** @brief Pin MOSI **/

#define PIN_MOSI 18

/** @brief Pin MISO **/

#define PIN_MISO 19

/** @brief LCD Command Pin **/

#define PIN_LCD_COMMAND 20

/** @brief Pin C0 **/

#define PIN_C0 24

/** @brief Pin C1 **/

#define PIN_C1 25

/** @brief Pin C2 **/

#define PIN_C2 26

/** @brief Pin C3 **/

#define PIN_C3 27

/** @brief Pin C4 **/

#define PIN_C4 28

/** @brief Pin C5 **/

#define PIN_C5 29

/** @brief Pin C6 **/

#define PIN_C6 30

/** @brief Pin C7 **/

#define PIN_C7 31

/** @brief Pin SCL **/

#define PIN_SCL 32

/** @brief Pin SDA **/

#define PIN_SDA 33

/** @brief Pin RX0 **/

#define PIN_RX0 40

/** @brief Pin TX0 **/

#define PIN_TX0 41

/** @brief LCD Reset Pin **/

#define PIN_LCD_RESET 42

/** @brief Pin E6 **/

#define PIN_E6 46

/** @brief Pin EXT_DIO1 **/

#define PIN_EXT_DIO1 46

/** @brief Pin E7 **/

#define PIN_E7 47

/** @brief Pin EXT_DIO2 **/

#define PIN_EXT_DIO2 48

/** @brief Pin AN0 **/

#define PIN_AN0 48

/** @brief Pin ADC0 **/

#define PIN_ADC0 48

/** @brief Pin AN1 **/

#define PIN_AN1 49

/** @brief Pin ADC1 **/

#define PIN_ADC1 49

/** @brief Pin AN2 **/

#define PIN_AN2 50

/** @brief Pin ADC2 **/

#define PIN_ADC2 50

/** @brief Pin AN3 **/

#define PIN_AN3 51

/** @brief Pin ADC3 **/

#define PIN_ADC3 51

/** @brief Pin AN4 **/

#define PIN_AN4 52

/** @brief Pin ADC4 **/

#define PIN_ADC4 52

/** @brief Pin AN5 **/

#define PIN_AN5 53

/** @brief Pin ADC5 **/

#define PIN_ADC5 53

/** @brief Pin AN6 **/

#define PIN_AN6 54

/** @brief Pin ADC6 **/

#define PIN_ADC6 54

/** @brief Pin AN7 **/

#define PIN_AN7 55

/** @brief Pin ADC7 **/

#define PIN_ADC7 55

/** @brief Wheel Pin **/

#define PIN_WHEEL 54

/** @brief Battery Voltage Monitor Pin **/

#define PIN_BATT 55

/** @brief button1 Pin **/

#define PIN_BTN1 56

/** @brief button2 Pin **/

#define PIN_BTN2 57

/** @brief LED1 Pin **/

#define PIN_LED1 58

/* Buttons */

/** @brief Button Pin **/

#define PIN_BTN PING

/** @brief button2 Pin **/

#define BTN2 PING1

/** @brief button1 Pin **/

#define BTN1 PING0

/** @brief Read a portpin. **/

int digital_input(int);

/** @brief Output to a portpin. **/

void digital_output(int bit, int val);

/** @brief Pullup a portpin. **/

void digital_pull_up(int);

/** @brief Check if button1 is pressed. **/

int button1_read( void );

/** @brief Check if button1 is clicked. **/

int button1_click( void );

/** @brief Wait until button1 is pressed. **/

void button1_wait( void );

/** @brief Check if button2 is pressed. **/

int button2_read( void );

/** @brief Check if button2 is clicked. **/

int button2_click( void );

/** @brief Wait until button2 is pressed. **/

void button2_wait( void );

/** @} **/ // end addtogroup

#endif

/**

 * @file eeprom.h

 * @brief handles eeprom storage for persistent data

 *

 * Contains functions and definitions for reading and writing to eeprom

 *

 * @author Colony Project, Brad Neuman

 */

 #ifndef _EEPROM_H_

 #define _EEPROM_H_

 #define EEPROM_ROBOT_ID_ADDR 0x0b

 /** @brief store a byte to eeproem

  *  @return 0 if success, nonzero on failure

  */

 int eeprom_put_byte(unsigned int addr, unsigned char byte);

 /** @brief reads a byte from eeprom

  *

  *  Pass it thge address and a pointer to a byte where the byte at the

  *  address will be stored

  *

  *  @return 0 if successful (byte is set to the eeprom value at addr), 

  *  nonzero if there was a problem

   */

 int eeprom_get_byte(unsigned int addr, unsigned char *byte);

 /** @brief get stored robot ID

  *

  *  returnes the value of eerpom at EEPROM_ROBOT_ID_ADDR

  *

  *  @return the robot id, if it is stored. If it returns 0xff it is probably invalid

  */

  unsigned char get_robotid(void);

 #endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file serial.h

 * @brief Contains declarations for serial input and output

 *

 * Contains definitions for serial input and output.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 *

 **/

/*

  serial.h - Contains definitions and function prototypes for the RS232 serial port

  author(s): pkv

  Directions:

  Call the initialization function for the serial port you wish to use.  Then, use

  either the provided functions or the stdio functions (fprintf, etc) to read and

  write characters to the serial ports.

  UART Mapping:

  usb_*() -> UART0

  xbee_*() -> UART1

  Options: (Add the following defines to your code to configure this library)

  #define USB_BAUD { 115200 | 9600 } <= pick ONE value from in here

  #define XBEE_BAUD { 115200 | 9600 } <= pick ONE value from in here

  #define USE_STDIO

  Note: If you enable USE_STDIO, the first init function that is called will 

  automatically be linked to stdin, stdout, and stderr.  To use the baud rate 

  commands, add something like the following to your code:

  #define FOO_BAUD 9600

  **UNLESS YOU KNOW WHAT YOU ARE DOING, PLEASE DO NOT CHANGE THIS FILE**

  Many, many other people use this file in their code.  If you change it, you will

  probably break all of their nice code.  You should not need to change anything in

  here, except to accomodate new hardware.

*/

#ifndef _SERIAL_H

#define _SERIAL_H

/**

 * @defgroup usb USB Input / Output

 * @brief Functions for USB input / output

 *

 * Low level functions for USB input and output.

 *

 * @{

 **/

// if no baud rate is defined for usb, default is set here

#ifndef USB_BAUD

/** @brief the USB baud rate **/

#define USB_BAUD 115200

#endif

/** @brief Initialize the USB **/

void usb_init(void);

/** @brief Print a character to USB **/

int usb_putc(char c);

/** @brief Read a character from USB **/

int usb_getc(void);

/** @brief Read a character from USB without blocking **/

int usb_getc_nb(char *c);

/** @brief Print a string to USB **/

int usb_puts(char *s);

/** @brief Print an integer to USB **/

int usb_puti(int value);

/** @} **/ //end addtogroup

/**

 * @defgroup xbee XBee Input / Output

 * @brief Functions for XBee input / output

 *

 * Low level functions for XBee input and output.

 *

 * @{

 **/

// if no baud rate is defined for usb, default is set here

// if no baud rate is defined for xbee, default is set here

#ifndef XBEE_BAUD

/** @brief the XBee baud rate **/

#define XBEE_BAUD 9600

#endif

/** @brief Initialize the XBee **/

void xbee_init(void);

/** @brief Print a character to the XBee **/

int xbee_putc(char c);

/** @brief Read a character from the XBee **/

int xbee_getc(void);

/** @brief Read a character from the XBee without blocking **/

int xbee_getc_nb(char *c);

/** @} **/ //end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file rangefinder.h

 * @brief Contains rangefinder declarations and functions

 * 

 * Contains functions and definitions for the use of

 * IR rangefinders.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _RANGEFINDER_H_

#define _RANGEFINDER_H_

/**

 * @addtogroup rangefinder

 * @{

 **/

/** @brief IR Rangefinder 1 **/

#define IR1 6

/** @brief IR Rangefinder 2 **/

#define IR2 5

/** @brief IR Rangefinder 3 **/

#define IR3 4

/** @brief IR Rangefinder 4 **/

#define IR4 3

/** @brief IR Rangefinder 5 **/

#define IR5 2

/** @brief Initialize the rangefinders **/

void range_init(void);

/** @brief Read the distance from a rangefinder **/

int range_read_distance(int range_id);

/** @} **/ //end addtogroup

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/** @file ring_buffer.h

 * @brief Ring Buffer

 *

 * 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)

 *

 **/

#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 {								\