Tooltron

# Hey Emacs, this is a -*- makefile -*-

#----------------------------------------------------------------------------

# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.

#

# Released to the Public Domain

#

# Additional material for this makefile was written by:

# Peter Fleury

# Tim Henigan

# Colin O'Flynn

# Reiner Patommel

# Markus Pfaff

# Sander Pool

# Frederik Rouleau

#

#----------------------------------------------------------------------------

# On command line:

#

# make all = Make software.

#

# make clean = Clean out built project files.

#

# make coff = Convert ELF to AVR COFF.

#

# make extcoff = Convert ELF to AVR Extended COFF.

#

# make program = Download the hex file to the device, using avrdude.

#                Please customize the avrdude settings below first!

#

# make debug = Start either simulavr or avarice as specified for debugging, 

#              with avr-gdb or avr-insight as the front end for debugging.

#

# make filename.s = Just compile filename.c into the assembler code only.

#

# make filename.i = Create a preprocessed source file for use in submitting

#                   bug reports to the GCC project.

#

# To rebuild project do "make clean" then "make all".

#----------------------------------------------------------------------------

# MCU name

MCU = atmega168

# Processor frequency.

#     This will define a symbol, F_CPU, in all source code files equal to the 

#     processor frequency. You can then use this symbol in your source code to 

#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done

#     automatically to create a 32-bit value in your source code.

F_CPU = 8000000

# Output format. (can be srec, ihex, binary)

FORMAT = ihex

# Target file name (without extension).

TARGET = main

# List C source files here. (C dependencies are automatically generated.)

SRC = $(wildcard *.c) timer.c

#$(TARGET).c 

# List Assembler source files here.

#     Make them always end in a capital .S.  Files ending in a lowercase .s

#     will not be considered source files but generated files (assembler

#     output from the compiler), and will be deleted upon "make clean"!

#     Even though the DOS/Win* filesystem matches both .s and .S the same,

#     it will preserve the spelling of the filenames, and gcc itself does

#     care about how the name is spelled on its command-line.

ASRC = 

# Optimization level, can be [0, 1, 2, 3, s]. 

#     0 = turn off optimization. s = optimize for size.

#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = s

# Debugging format.

#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.

#     AVR Studio 4.10 requires dwarf-2.

#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.

DEBUG = dwarf-2

# List any extra directories to look for include files here.

#     Each directory must be seperated by a space.

#     Use forward slashes for directory separators.

#     For a directory that has spaces, enclose it in quotes.

EXTRAINCDIRS = Y:/code/firefly_plus_lib

#C:\WinAVR\include\fwr

# Compiler flag to set the C Standard level.

#     c89   = "ANSI" C

#     gnu89 = c89 plus GCC extensions

#     c99   = ISO C99 standard (not yet fully implemented)

#     gnu99 = c99 plus GCC extensions

CSTANDARD = -std=gnu99

# Place -D or -U options here

CDEFS = -DF_CPU=$(F_CPU)UL

# Place -I options here

CINCS =

#---------------- Compiler Options ----------------

#  -g*:          generate debugging information

#  -O*:          optimization level

#  -f...:        tuning, see GCC manual and avr-libc documentation

#  -Wall...:     warning level

#  -Wa,...:      tell GCC to pass this to the assembler.

#    -adhlns...: create assembler listing

CFLAGS = -g$(DEBUG)

CFLAGS += $(CDEFS) $(CINCS)

CFLAGS += -O$(OPT)

CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wall -Wstrict-prototypes

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))

CFLAGS += $(CSTANDARD)

#---------------- Assembler Options ----------------

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 

#---------------- Library Options ----------------

# Minimalistic printf version

PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)

PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.

PRINTF_LIB = 

#PRINTF_LIB = $(PRINTF_LIB_MIN)

#PRINTF_LIB = $(PRINTF_LIB_FLOAT)

# Minimalistic scanf version

SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.

SCANF_LIB = 

#SCANF_LIB = $(SCANF_LIB_MIN)

#SCANF_LIB = $(SCANF_LIB_FLOAT)

MATH_LIB = -lm

#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# used for variables (.data/.bss) and heap (malloc()).

#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# only used for heap (malloc()).

#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#---------------- Linker Options ----------------

#  -Wl,...:     tell GCC to pass this to linker.

#    -Map:      create map file

#    --cref:    add cross reference to  map file

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

LDFLAGS += $(EXTMEMOPTS)

LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd 

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

AVRDUDE_PROGRAMMER = avrispmkII

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = usb

# programmer connected to serial device

AVRDUDE_WRITE_FLASH = -b 9600 -U flash:w:$(TARGET).hex

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 

# to submit bug reports.

#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.

DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.

# DEBUG_UI = gdb

DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.

DEBUG_BACKEND = avarice

#DEBUG_BACKEND = simulavr

# GDB Init Filename.

GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG

JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.

DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally

#     just set to localhost unless doing some sort of crazy debugging when 

#     avarice is running on a different computer.

DEBUG_HOST = localhost

#============================================================================

# Define programs and commands.

SHELL = sh

CC = avr-gcc

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

NM = avr-nm

AVRDUDE = avrdude

REMOVE = rm -f

COPY = cp

WINSHELL = cmd

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before: 

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

# Define all object files.

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 

# Define all listing files.

LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) 

# Compiler flags to generate dependency files.

GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.

# Add target processor to flags.

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

# Default target.

all: begin gccversion sizebefore build sizeafter end

build: elf hex eep lss sym

elf: $(TARGET).elf

hex: $(TARGET).hex

eep: $(TARGET).eep

lss: $(TARGET).lss 

sym: $(TARGET).sym

# Eye candy.

# AVR Studio 3.x does not check make's exit code but relies on

# the following magic strings to be generated by the compile job.

begin:

	@echo

	@echo $(MSG_BEGIN)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

sizeafter:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

# Display compiler version information.

gccversion : 

	@$(CC) --version

# Program the device.  

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Generate avr-gdb config/init file which does the following:

#     define the reset signal, load the target file, connect to target, and set 

#     a breakpoint at main().

gdb-config: 

	@$(REMOVE) $(GDBINIT_FILE)

	@echo define reset >> $(GDBINIT_FILE)

	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)

	@echo end >> $(GDBINIT_FILE)

	@echo file $(TARGET).elf >> $(GDBINIT_FILE)

	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)

ifeq ($(DEBUG_BACKEND),simulavr)

	@echo load  >> $(GDBINIT_FILE)

endif	

	@echo break main >> $(GDBINIT_FILE)

debug: gdb-config $(TARGET).elf

ifeq ($(DEBUG_BACKEND), avarice)

	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.

	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)

	@$(WINSHELL) /c pause

else

	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \

	$(DEBUG_MFREQ) --port $(DEBUG_PORT)

endif

	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)

# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

COFFCONVERT=$(OBJCOPY) --debugging \

--change-section-address .data-0x800000 \

--change-section-address .bss-0x800000 \

--change-section-address .noinit-0x800000 \

--change-section-address .eeprom-0x810000 

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	$(NM) -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(CC) -c $(ALL_CFLAGS) $< -o $@ 

# Compile: create assembler files from C source files.

%.s : %.c

	$(CC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.

%.i : %.c

	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 

# Target: clean project.

clean: begin clean_list end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

	$(REMOVE) .dep/*

# Include the dependency files.

-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion \

build elf hex eep lss sym coff extcoff \

clean clean_list program debug gdb-config

/*

	serial.c - Functions for using the RS232 serial port

	author: Robotics Club, Colony Project

	much code taken from FWR's library, author: Tom Lauwers

	general note - serial -> uart

				   serial1 -> uart1

		this is done for clarity purposes

*/

#include <avr/io.h>

#include <stdio.h>

#include "serial.h"

//setup uart0 (serial)

void serial_init(unsigned int ubrr)

{

    DDRD |= (1<<PD1);

    DDRD &= ~(1<<PD0);

    UDR0 = 0;

	/*Set baud rate - baud rates under 4800bps unsupported */

	UBRR0H = 0x00;

	UBRR0L = (unsigned char)ubrr;

    //UCSR0A |= (1<<U2X0);

	/*Enable receiver and transmitter */

	UCSR0B |= (1<<RXEN0)|(1<<TXEN0);

	/* Set frame format: 8data, 1stop bit, asynchronous normal mode */

	UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);

}

// uart_putchar - Low-level function which puts a value into the 

// Tx buffer for transmission.  Automatically injects

// a \r before all \n's

int serial_putchar(char c)

{

    if (c == '\n')

		putchar('\r');

	// Wait until buffer is clear for sending

    loop_until_bit_is_set(UCSR0A, UDRE0);

    //while ( !(UCSR0A & (1<<UDRE0)));

	// Load buffer with your character

    UDR0 = c;

    return 0;

}

// uart_getchar - Low-level function which waits for the Rx buffer

// to be filled, and then reads one character out of it.

// Note that this function blocks on read - it will wait until

// something fills the Rx buffer.

int serial_getchar(void)

{

	char c;

	// Wait for the receive buffer to be filled

    loop_until_bit_is_set(UCSR0A, RXC0);

	// Read the receive buffer

    c = UDR0;

	return c;

}

// uart_getchar_nb - Low-level function which checks if the Rx buffer

// is filled, and then reads one character out of it.

// This is a non blocking version uart_getchar

int serial_getchar_nb(void)

{

	char c;

	// Wait for the receive buffer to be filled

    //loop_until_bit_is_set(UCSR0A, RXC0);

	if (UCSR0A & _BV(RXC0)){

		// Read the receive buffer

		c = UDR0;

		return c;

	}

	return 0;

}

/** @file timer.c

 * 

 *  @brief Implements the timer functions. See timer.h for full details

 *

 * 	@author Kevin Woo (kwoo)

 */

#include "timer.h"

#include <avr/io.h>

#include <avr/interrupt.h>

//Initializes all the timer1 registers

void init_timer() {

	//Clears the control registers for timer 1

	TCCR1A = 0x00;

	TCCR1B = 0x00;

	TCCR1C = 0x00;

	TIMSK1 = 0x00;

	/*****

	 * Output control register A set to clear timer on compare match.

	 * Output control register B not connected.

	 * WGM is in normal operation.

	 * Clock is divided by 256. (This sets it to disconnected, connects

	 *   in start_timer to above value).

	 *****/

	TCCR1A |= _BV(COM1A1);

	//Compares at 1 second with an 8MHz Clock and a 256 prescale. (31250)

	OCR1AH = 0x7A;

	OCR1AL = 0x12;

	//Enable the output compare register 1A interrupt

	TIMSK1 |= _BV(OCIE1A);

	timeout_flag = 0;

	return;

}

void start_timer() {

	//Enables the timer. Sets prescale to 256.

	TCCR1B |= _BV(CS12);

	return;

}

void stop_timer() {

	//Disables timer.

	TCCR1B &= ~_BV(CS12);

	seconds = 0;

	minutes = 0;

	return;

}

void reset_timer() {

	seconds = 0;

	minutes = 0;

	return;

}

void set_timeout_flag() {

    timeout_flag = 1;

    return;

}

void reset_timeout_flag() {

    timeout_flag = 0;

    return;

}

ISR(TIMER1_COMPA_vect) {

	if (seconds == 59) {

		minutes++;

		seconds = 0;

	} else {

		seconds++;

	}

}

#include <util/delay.h>

#include "serial.h"

#include <avr/interrupt.h>

#include <avr/io.h>

#include "tooltron.h"

#include "timer.h"

/***** Keypad definitions ******/

/** @brief ROW1 of the keypad */

#define ROW4 (_BV(PB0))

/** @brief ROW2 of the keypad */

#define ROW3 (_BV(PB1))

/** @brief ROW3 of the keypad */

#define ROW2 (_BV(PB2))

/** @brief ROW4 of the keypad */

#define ROW1 (_BV(PB3))

/** @brief COL1 of the keypad */

#define COL4 (_BV(PB4))

/** @brief COL2 of the keypad */

#define COL3 (_BV(PB5))

/** @brief COL3 of the keypad */

#define COL2 (_BV(PB6))

/** @brief COL4 of the keypad */

#define COL1 (_BV(PB7))

/***** LED definitions *****/

#define LED_RED (_BV(PC5))

#define LED_YELLOW (_BV(PC4))

#define LED_GREEN (_BV(PC3))

/***** Global variables *****/

void init_pins(void) {

  DDRB = 0;

  PORTB = (COL1|COL2|COL3|COL4);

  DDRC |= LED_RED | LED_YELLOW | LED_GREEN;

  PORTC |= LED_RED | LED_GREEN | LED_YELLOW;

  return;	

}

char get_button(void) {

	char ret = ' ';

    // Row 1 Strobe

  DDRB = (ROW1);

  PORTB = (COL1|COL2|COL3|COL4);

  if(!(PINB&(COL1)))

    ret ='1';

  else if(!(PINB&(COL2)))

    ret ='2';

  else if(!(PINB&(COL3)))

    ret ='3';

  else if(!(PINB&(COL4)))

    ret ='A';

  else {

    DDRB = (ROW2);

    PORTB = (COL1|COL2|COL3|COL4);

    // Row 2 Strobe

    if(!(PINB&(COL1)))

      ret ='4';

    else if(!(PINB&(COL2)))

      ret ='5';

    else if(!(PINB&(COL3)))

      ret ='6';

    else if(!(PINB&(COL4)))

      ret ='B';

    else {

      // Row 3 Strobe

      DDRB = (ROW3);

      PORTB = (COL1|COL2|COL3|COL4);

      if(!(PINB&(COL1)))

        ret ='7';

      else if(!(PINB&(COL2)))

        ret ='8';

      else if(!(PINB&(COL3)))

        ret ='9';

      else if(!(PINB&(COL4)))

        ret ='C';

      else{

        // Row 4 Strobe

        DDRB = (ROW4);

        PORTB = (COL1|COL2|COL3|COL4);

        if(!(PINB&(COL1)))

          ret ='*';

        else if(!(PINB&(COL2)))

          ret ='0';

        else if(!(PINB&(COL3)))

          ret ='#';

        else if(!(PINB&(COL4)))

          ret ='D';

	    }

	  }

	}

  DDRB = 0;

  PORTB = (COL1|COL2|COL3|COL4);

  return ret;

}

int main(void)

{

  char c;

  serial_init(BAUD9600);

  init_pins();

  init_timer();

  sei();

  while(1)

  {

    PORTC |= LED_RED | LED_GREEN | LED_YELLOW;

    //wait for key request from server

    while(serial_getchar()!=TT_GET_KEY);

    PORTC &=~LED_YELLOW;

    reset_timer();

    reset_timeout_flag();

    start_timer();

    c = ' ';

    while(c ==' ') {

        if (seconds > TIMEOUT_SECONDS) {

            set_timeout_flag();

	    serial_putchar(TT_TIMEOUT);

            break;

        }

        c = get_button();

        _delay_ms(100);

    }

    if (timeout_flag == 0) {

        //respond with key pressed

        serial_putchar(c);

        //wait for response

        c=0;

        reset_timeout_flag();

        reset_timer();

        while(!c && seconds < TIMEOUT_SECONDS)

          c = serial_getchar_nb();

        PORTC |= LED_YELLOW;

        switch(c)

        {

          case TT_ACK:

            PORTC &= ~LED_GREEN;

            break;

          case TT_NACK:

            PORTC &= ~LED_RED;

            break;

          default:

            PORTC &= (~LED_RED & ~LED_GREEN);

            break;

        }

        stop_timer();

        _delay_ms(1000);

      }

    } 

  return 0;

}

/*

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

*/

#ifndef _SERIAL_H

#define _SERIAL_H

// Tested baud rates

#define BAUD9600    51

#define BAUD115200  8  //Warning--3.5% error

// Untested baud rates that might be right --aaron

#define BAUD1M	     0

#define BAUD500K     1

#define BAUD250K     3

#define BAUD230400   3   //Warning--8.5% error

#define BAUD76800    12

#define BAUD57600    16  //Warning--2.1% error

#define BAUD38400    25

#define BAUD28800    34

#define BAUD19200    51

#define BAUD14400    68

#define BAUD4800     207

#define BAUD2400     416  //Might not work, since it needs some high bits set

// Function descriptions are available in serial.c

//serial (serial0) is the ttl serial (wireless)

void serial_init( unsigned int ubrr);

int serial_putchar(char c);

int serial_getchar(void);

int serial_getchar_nb(void);

//serial1 is the rs-232 port (db9 connector) (except on robot0 where both are serial0)

void serial1_init( unsigned int ubrr);

int serial1_putchar(char c);

int serial1_getchar(void);

int serial1_getchar_nb(void);

#endif

/** @file timer.h

 *	

 * 	@breif Timer functions

 *

 *	@author Kevin Woo (kwoo)

 */

#ifndef TIMER_H

#define TIMER_H

/** @brief Max time that we can wait for a full packet from the server before we timeout */

#define TIME_OUT		5

/** Globals **/

volatile char seconds;		//Seconds elapsed

volatile char minutes;		//Minutes exlapsed

char timeout_flag; //Indicates that timeout has occured

/** @brief Seconds that have elapsed since the timer started */

//extern volatile char seconds;

/** @brief Minutes that have elapsed since the timer started */

//extern volatile char minutes;

//extern char timeout_flag;

/** @brief Sets the registers to use the timer for couting in real time */

void init_timer(void);

/** @brief Starts the timer from last position*/

void start_timer(void);

/** @brief Stops the timer from counting*/

void stop_timer(void);

/** @brief Resets the values of the timer to 0*/

void reset_timer(void);

/** @brief Resets the timeout flag to 0 */

void reset_timeout_flag(void);

/** @brief Sets the timeout flag to 1 */

void set_timeout_flag(void);

#endif

#ifndef _TOOLTRON_H_

#define _TOOLTRON_H_

#define TT_GET_KEY 'k'

#define TT_ACK     'a'

#define TT_NACK    'n'

#define TT_TO      'f'

#define TT_TIMEOUT 't'

#define TIMEOUT_SECONDS 10 

#endif