00001 00031 /*************************************************************************** 00032 * 00033 *it is not allowed to remove the nicknames of the contributers to this software 00034 * from the function header 00035 */ 00036 /*************************************************************************** 00037 * * 00038 * This program is free software; you can redistribute it and/or modify * 00039 * it under the terms of the GNU General Public License as published by * 00040 * the Free Software Foundation; either version 2 of the License, or * 00041 * any later version. * 00042 ***************************************************************************/ 00043 00044 /**************************************************************************** 00045 * 00046 * File Name: asuro.c 00047 * 00048 * 00049 * Ver. Date Author Comments 00050 * ------- ---------- -------------- ------------------------------ 00051 * 1.00 14.08.2003 Jan Grewe build 00052 * 2.00 14.10.2003 Jan Grewe RIGHT_VEL -> MotorSpeed(unsigned char left_speed, unsigned char right_speed); 00053 * LeftRwd(),LeftFwd(),RightRwd(), LEFT_VEL, 00054 * RigthFwd() -> MotorDir(unsigned char left_dir, unsigned char right_dir); 00055 * GREEN_ON,GREEN_OFF,RED_ON,RED_OFF -> StatusLED(unsigned char color); 00056 * LED_RED_ON, LED_RED_OFF -> FrontLED(unsigned char color); 00057 * Blink(unsigned char left, unsigned char right) -> 00058 * BackLED(unsigned char left, unsigned char right); 00059 * Alles in Funktionen gefasst => leichter verständlich ?!?! 00060 * 2.10 17.10.2003 Jan Grewe new Timer funktion void Sleep(unsigned char time36kHz) 00061 * 00062 * 00063 * Copyright (c) 2003 DLR Robotics & Mechatronics 00064 *****************************************************************************/ 00065 /**************************************************************************** 00066 * 00067 * File Name: asuro.c 00068 * Project : asuro library "Robotrixer Buxtehude" 00069 * 00070 * Description: This file contains additional functions: 00071 * 00072 * signal (SIG_ADC) interrupt/signal routine for encoder-counter 00073 * signal (SIG_INTERRUPT1) signal for switches 00074 * EncoderInit() initializing encoder-counter 00075 * EncoderStart() start autoencoding 00076 * EncoderStop() stop autoencoding 00077 * EncoderSet(int,int) set encodervalue 00078 * Msleep(int delay) wait for delay in milliseconds 00079 * Gettime() get systemtime in milliseconds 00080 * PrintInt(int) 00081 * 00082 * modifications in Sleep, SIG_OUTPUT_COMPARE2, PollSwitch, LineData 00083 * 00084 * Ver. Date Author Comments 00085 * ------- ---------- -------------- ------------------------------ 00086 * beta1 31.03.2005 Robotrixer asuro library 00087 * ------- ---------- -------------- ------------------------------ 00088 * the encoder source is based on RechteckDemo.c ver 2.0 by Jan Grewe 22.10.2003 00089 * Copyright (c) 2003 DLR Robotics & Mechatronics 00090 00091 *****************************************************************************/ 00092 /**************************************************************************** 00093 * 00094 * File Name: asuro.c 00095 * Project : asuro library modified for IR collision detector 00096 * 00097 * Description: modifications made in following functions: 00098 * 00099 * SIGNAL (SIG_OUTPUT_COMPARE2) -> SIGNAL (SIG_OVERFLOW2) 00100 * Gettime() counts now 36kHz 00101 * Init() timer2 modified for adjustable duty cycle 00102 * Batterie() bug fixed 00103 * Sleep() counts now 36kHz 00104 * Msleep() counts now 36kHz 00105 * 00106 * Ver. Date Author Comments 00107 * ------- ---------- -------------- ------------------------------ 00108 * beta2 11.06.2005 Waste asuro library 00109 * ------- ---------- -------------- ------------------------------ 00110 *****************************************************************************/ 00111 /**************************************************************************** 00112 * 00113 * File Name: asuro.c 00114 * Project : asuro library 00115 * 00116 * Description: This file contains additional functions: 00117 * 00118 * motor control functions 29.7.2005 stochri 00119 * void Go(int distance) 00120 * void Turn(int degree) 00121 * 00122 * unsigned char Wheelspeed[2] measured Wheelspeed by interupt 00123 * 00124 * Ver. Date Author Comments 00125 * ------- ---------- -------------- ------------------------------------------ 00126 * sto1 29.07.2005 stochri asuro library with motor control functions 00127 * ------- ---------- -------------- ------------------------------------------ 00128 *****************************************************************************/ 00129 /**************************************************************************** 00130 * 00131 * File Name: asuro.c 00132 * Project : asuro library "Robotrixer Buxtehude" 00133 * 00134 * Description: modifications made in following function: 00135 * 00136 * Go (int distance, int speed) Added Speed and Odometrie 00137 * Turn (int degree, int speed) Added Speed and Odometrie 00138 * 00139 * modifications in Sleep, SIG_OUTPUT_COMPARE2, PollSwitch, LineData 00140 * 00141 * Ver. Date Author Comments 00142 * ------- ---------- -------------- ------------------------------ 00143 * And1 31.07.2005 Andun See above 00144 * ------- ---------- -------------- ------------------------------ 00145 * 00146 *****************************************************************************/ 00147 /**************************************************************************** 00148 * 00149 * File Name: asuro.c 00150 * Project : asuro library 00151 * 00152 * Description: modifications made in following functions: 00153 * 00154 * void PrintInt(int wert) 00155 * 00156 * unsigned char Wheelspeed[2] removed 00157 * 00158 * Ver. Date Author Comments 00159 * ------- ---------- -------------- ------------------------------------------ 00160 * 2.60 28.09.2005 m.a.r.v.i.n doxygen comments 00161 * ------- ---------- -------------- ------------------------------------------ 00162 *****************************************************************************/ 00163 /**************************************************************************** 00164 * 00165 * File Name: asuro.c 00166 * Project : asuro library 00167 * 00168 * Description: modifications made in following functions: 00169 * 00170 * SIGNAL (SIG_ADC) 00171 * void PrintInt(int wert) 00172 * 00173 * 00174 * Ver. Date Author Comments 00175 * ------- ---------- -------------- ------------------------------------------ 00176 * 2.61 20.11.2006 m.a.r.v.i.n SIGNAL (SIG_ADC): static Variable toggle initialisiert 00177 * auf False (Bug report von Rolf_Ebert) 00178 * PrintInt: Initialisierung text String kann zu Fehler 00179 * beim Flashen mit RS232/IR Adapter fuehren 00180 * (Bug report von francesco) 00181 * ------- ---------- -------------- ------------------------------------------ 00182 *****************************************************************************/ 00183 /**************************************************************************** 00184 * 00185 * File Name: asuro.c 00186 * Project : asuro library 00187 * 00188 * Description: new functions has been added: 00189 * 00190 * void uart_putc(unsigned char zeichen) 00191 * void SerPrint(unsigned char *data) 00192 * void SetMotorPower(int8_t left_speed, int8_t right_speed ) 00193 * void sound(uint16_t freq, uint16_t duration_msec, uint8_t amplitude) 00194 * 00195 * Description: modifications made in following functions: 00196 * 00197 * void Go(int distance, int power) 00198 * void Turn(int degree, int speed) 00199 * void PrintInt(int wert) 00200 * 00201 * 00202 * Ver. Date Author Comments 00203 * ------- ---------- -------------- ------------------------------------------ 00204 * 2.70 07.01.2007 stochri new functions: 00205 * uart_putc: send single character 00206 * SerPrint: send 0-terminated string 00207 * SetMotorPower: set Motor speed and direction 00208 * sound: Sound Ausgabe ueber Motor PWM 00209 * Go: distance in mm 00210 * Turn: comments 00211 * m.a.r.v.i.n PrintInt: SerWrite ersetzt durch SerPrint 00212 * ------- ---------- -------------- ------------------------------------------ 00213 *****************************************************************************/ 00214 00215 00216 #ifndef ASURO_H 00217 #define ASURO_H 00218 00219 #include <avr/io.h> 00220 #include <avr/interrupt.h> 00221 #ifndef SIGNAL 00222 #include <avr/signal.h> // header file obsolete in actual avr-libc 00223 #include <inttypes.h> 00224 #endif 00225 #include <stdlib.h> 00226 00227 #define FALSE 0 00228 #define TRUE 1 00229 00230 #define OFF 0 00231 #define ON 1 00232 00233 #define GREEN 1 00234 #define RED 2 00235 #define YELLOW 3 00236 00237 /* neue Funktionen und Variablen*/ 00238 #define LEFT 0 00239 #define RIGHT 1 00240 #define CENTER 2 00241 00242 /* Definitionen fuer Taster 00243 * (Zaehlweise der Taster erfolgt von libks nachs rechts, 00244 * wenn der Asuro mit den Tastern nach oben zeigt) */ 00245 #define K1 (1<<5) 00246 #define K2 (1<<4) 00247 #define K3 (1<<3) 00248 #define K4 (1<<2) 00249 #define K5 (1<<1) 00250 #define K6 (1<<0) 00251 00252 /* --- Globale Variablen -----------------------------------*/ 00256 extern const char version[5]; 00257 00258 /* 00259 * Tastsensor Wert bei Interrupt Betrieb. 0=keine Taste, 1= Taste gedrueckt 00260 */ 00269 extern int switched; 00270 00271 /* 00272 * Odometriesensor Zaehler bei Interrupt Betrieb. 00273 * encoder[0] links, encoder[1] = rechts. 00274 */ 00282 extern int encoder[2]; 00283 00284 /* 00285 * Counter fuer 36kHz. 00286 * Wird in der Interrupt Funktion SIG_OVERFLOW2 hochgezaehlt\n 00287 * und in der Sleep() Funktion abgefragt. 00288 */ 00289 extern volatile unsigned char count36kHz; 00290 00291 /* 00292 * Sytemzeit in ms. 00293 * Wird in der Interrupt Funktion SIG_OVERFLOW2 hochgezaehlt 00294 * und in der Gettime() Funktion verwendet. 00295 */ 00296 extern volatile unsigned long timebase; 00297 00298 /* 00299 * Odometrie Sensor Abfrage im Interrupt Betrieb. 00300 * Wird in der Interrupt Funktion SIG_ADC abgefragt, 00301 * in der EncoderInit() und EncoderStart() Funktion gesetzt 00302 * und in der EncoderStop() Funktion geloescht. 00303 */ 00304 extern volatile int autoencode; 00305 00306 /* --- Funktions Prototypen -----------------------------------*/ 00307 00313 void Init(void); 00314 00315 /**************** Zeit- und Delay Funktionen time.c *********/ 00320 unsigned long Gettime(void); 00326 void Msleep(int ms); 00332 void Sleep(unsigned char time36kHz); 00333 00334 /**************** Low Level Encoder Funktionen encoder_low.c */ 00340 void EncoderInit(void); 00347 void EncoderSet(int setl,int setr); 00352 void EncoderStop(void); 00357 void EncoderStart(void); 00358 00359 /**************** Encoder Funktionen encoder.c **************/ 00366 void Go(int distance, int speed); 00373 void Turn(int degree, int speed); 00374 00375 /**************** A/D Wandler Funktionen adc.c **************/ 00381 int Battery(void); 00387 void LineData(unsigned int *data); 00393 void OdometryData(unsigned int *data); 00394 00395 // aus Nostalgiegruenden Defines fuer alte Funktionsnamen 00396 #define Batterie Battery 00397 #define OdometrieData OdometryData 00398 00399 /**************** LED Funktionen led.c **********************/ 00405 inline void StatusLED(unsigned char color); 00411 inline void FrontLED(unsigned char status); 00418 void BackLED(unsigned char left, unsigned char right); 00419 00420 /**************** Low Level Motorsteuerungs Funktionen motor_low.c */ 00428 inline void MotorDir(unsigned char left_dir, unsigned char right_dir); 00436 inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed); 00437 00438 /**************** Motorsteuerungs Funktionen motor.c **************/ 00439 void SetMotorPower(int8_t leftpwm, int8_t rightpwm); 00440 00441 /******************** Low Level UART Funktionen uart.c ************/ 00448 void SerWrite(unsigned char *data,unsigned char length); 00456 void SerRead(unsigned char *data, unsigned char length, unsigned int timeout); 00457 00458 /**************** UART Funktionen serielle Ausgabe uart.c ********/ 00459 void UartPutc(unsigned char zeichen); 00460 void SerPrint(unsigned char *data); 00461 void PrintInt(int wert); 00462 void PrintLong(long wert); 00463 00464 /**************** Taster Funktionen switches.c ******************/ 00470 unsigned char PollSwitch (void); 00477 void StartSwitch(void); 00484 void StopSwitch(void); 00485 00486 /**************** Soundausgabe sound.c **************************/ 00487 void Sound(uint16_t freq, uint16_t duration_msec, uint8_t amplitude); 00488 00489 /* ----------- END ------------ */ 00490 00491 00492 /* --------------- INTERNAL ------------- */ 00493 #define GREEN_LED_ON PORTB |= GREEN_LED 00494 #define GREEN_LED_OFF PORTB &= ~GREEN_LED 00495 #define RED_LED_ON PORTD |= RED_LED 00496 #define RED_LED_OFF PORTD &= ~RED_LED 00498 #define FWD (1 << PB5) 00499 #define RWD (1 << PB4) 00500 #define BREAK 0x00 00501 #define FREE (1 << PB4) | (1 << PB5) 00503 #define IRTX (1 << PB3) 00504 #define GREEN_LED (1 << PB0) 00505 #define RED_LED (1 << PD2) 00507 #define PWM (1 << PB1) | (1 << PB2) 00508 #define RIGHT_DIR (1 << PB4) | (1 << PB5) 00509 #define LEFT_DIR (1 << PD4) | (1 << PD5) 00511 #define SWITCHES (1 << PD3) 00512 #define SWITCH_ON PORTD |= SWITCHES 00513 #define SWITCH_OFF PORTD &= ~SWITCHES 00515 #define BATTERIE (1 << MUX0) | (1 << MUX2) 00516 #define SWITCH (1 << MUX2) 00517 #define IR_LEFT (1 << MUX0) | (1 << MUX1) 00518 #define IR_RIGHT (1 << MUX1) 00519 #define FRONT_LED (1 << PD6) 00521 #define ODOMETRIE_LED (1 << PD7) 00522 #define ODOMETRIE_LED_ON PORTD |= ODOMETRIE_LED 00523 #define ODOMETRIE_LED_OFF PORTD &= ~ODOMETRIE_LED 00525 #define WHEEL_LEFT (1 << MUX0) 00526 #define WHEEL_RIGHT 0 00528 #endif /* ASURO_H */
1.5.1-p1