addremove

diff --git a/modules/base/math/geometry/polygon.c b/modules/base/math/geometry/polygon.c
index 9eef11e..53db064 100755 (executable)
--- a/modules/base/math/geometry/polygon.c
+++ b/modules/base/math/geometry/polygon.c
@@ -314,8 +314,8 @@ calc_rays(poly_t *polys, uint8_t npolys, uint8_t *rays)
  * possiblity path: If we have 3 checpoint aligned in a path (say A,
  * B, C) the algorithm will prefer (A, C) instead of (A, B, C) */
 void 
  * possiblity path: If we have 3 checpoint aligned in a path (say A,
  * B, C) the algorithm will prefer (A, C) instead of (A, B, C) */
 void 

-calc_rays_weight(poly_t *polys, uint8_t npolys, uint8_t *rays, 
-                uint8_t ray_n, uint16_t *weight)
+calc_rays_weight(poly_t *polys, __attribute__((unused)) uint8_t npolys,
+                uint8_t *rays, uint8_t ray_n, uint16_t *weight)

 {
        uint8_t i;
        vect_t v;
 {
        uint8_t i;
        vect_t v;

diff --git a/modules/base/math/geometry/vect_base.c b/modules/base/math/geometry/vect_base.c
index 9ea271d..b8b0d31 100755 (executable)
--- a/modules/base/math/geometry/vect_base.c
+++ b/modules/base/math/geometry/vect_base.c
@@ -59,12 +59,12 @@ vect_pvect_sign(vect_t *v, vect_t *w)
        return z>0?1:-1;
 }
 
        return z>0?1:-1;
 }
 

-/* float norm(float x1, float y1, float x2, float y2) */
-/* { */
-/*     float x = x2 - x1; */
-/*     float y = y2 - y1; */
-/*     return sqrt(x*x + y*y); */
-/* } */
+float xy_norm(float x1, float y1, float x2, float y2)
+{
+       float x = x2 - x1;
+       float y = y2 - y1;
+       return sqrt(x*x + y*y);
+}

 
 float pt_norm(point_t *p1, point_t *p2)
 {
 
 float pt_norm(point_t *p1, point_t *p2)
 {

diff --git a/modules/base/math/geometry/vect_base.h b/modules/base/math/geometry/vect_base.h
index e46c840..de3a2c2 100755 (executable)
--- a/modules/base/math/geometry/vect_base.h
+++ b/modules/base/math/geometry/vect_base.h
@@ -49,7 +49,7 @@ int8_t
 vect_pvect_sign(vect_t *v, vect_t *w);
 
 /* norm of a vector */
 vect_pvect_sign(vect_t *v, vect_t *w);
 
 /* norm of a vector */

-//float norm(float x1, float y1, float x2, float y2);
+float xy_norm(float x1, float y1, float x2, float y2);

 float pt_norm(point_t *p1, point_t *p2);
 float vect_norm(vect_t *v);
 void vect_rot_trigo(vect_t *v);
 float pt_norm(point_t *p1, point_t *p2);
 float vect_norm(vect_t *v);
 void vect_rot_trigo(vect_t *v);

diff --git a/projects/microb2010/tests/beacon_tsop/.config b/projects/microb2010/tests/beacon_tsop/.config
index 94eb57b..53256cb 100644 (file)
--- a/projects/microb2010/tests/beacon_tsop/.config
+++ b/projects/microb2010/tests/beacon_tsop/.config
@@ -65,8 +65,8 @@ CONFIG_MATH_LIB=y
 # CONFIG_FDEVOPEN_COMPAT is not set
 # CONFIG_NO_PRINTF is not set
 # CONFIG_MINIMAL_PRINTF is not set
 # CONFIG_FDEVOPEN_COMPAT is not set
 # CONFIG_NO_PRINTF is not set
 # CONFIG_MINIMAL_PRINTF is not set

-CONFIG_STANDARD_PRINTF=y
-# CONFIG_ADVANCED_PRINTF is not set
+# CONFIG_STANDARD_PRINTF is not set
+CONFIG_ADVANCED_PRINTF=y

 # CONFIG_FORMAT_IHEX is not set
 # CONFIG_FORMAT_SREC is not set
 CONFIG_FORMAT_BINARY=y
 # CONFIG_FORMAT_IHEX is not set
 # CONFIG_FORMAT_SREC is not set
 CONFIG_FORMAT_BINARY=y

diff --git a/projects/microb2010/tests/beacon_tsop/Makefile b/projects/microb2010/tests/beacon_tsop/Makefile
index 6d98f23..8b3940d 100755 (executable)
--- a/projects/microb2010/tests/beacon_tsop/Makefile
+++ b/projects/microb2010/tests/beacon_tsop/Makefile
@@ -16,7 +16,7 @@ ASRC =
 
 AVRDUDE_DELAY=30
 
 
 AVRDUDE_DELAY=30
 

-CFLAGS += -W
+CFLAGS += -W -Wall -Werror

 
 ########################################
 
 
 ########################################
 

diff --git a/projects/microb2010/tests/beacon_tsop/commands.c b/projects/microb2010/tests/beacon_tsop/commands.c
index 8a98f49..253c886 100644 (file)
--- a/projects/microb2010/tests/beacon_tsop/commands.c
+++ b/projects/microb2010/tests/beacon_tsop/commands.c
@@ -32,7 +32,11 @@
 #include <parse.h>
 #include <rdline.h>
 #include <parse_string.h>
 #include <parse.h>
 #include <rdline.h>
 #include <parse_string.h>

+#include <vect_base.h>
+#include <lines.h>
+#include <circles.h>

 
 

+#include "trigo.h"

 #include "main.h"
 
 /**********************************************************/
 #include "main.h"
 
 /**********************************************************/


@@ -158,7 +162,24 @@ struct cmd_test_result {
 static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
                             __attribute__((unused)) void *data)
 {
 static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
                             __attribute__((unused)) void *data)
 {

+       point_t pos;
+       double a01 = 1.65;
+       double a12 = 2.12;
+       double a20 = 2.53;
+       uint16_t time1, time2;

 
 

+       cli();
+       time1 = TCNT3;
+       sei();
+
+       if (angles_to_posxy(&pos, a01, a12, a20) < 0)
+               printf_P(PSTR("error\n"));
+
+       cli();
+       time2 = TCNT3;
+       sei();
+
+       printf_P(PSTR("%2.2f %2.2f (t=%d)\n"), pos.x, pos.y, time2-time1);

 }
 
 prog_char str_test_arg0[] = "test";
 }
 
 prog_char str_test_arg0[] = "test";

diff --git a/projects/microb2010/tests/beacon_tsop/trigo.c b/projects/microb2010/tests/beacon_tsop/trigo.c
index 932bb42..391043c 100644 (file)
--- a/projects/microb2010/tests/beacon_tsop/trigo.c
+++ b/projects/microb2010/tests/beacon_tsop/trigo.c
@@ -102,14 +102,14 @@ int8_t angle_to_circles(circle_t *c1, circle_t *c2,
        if (c1) {
                c1->x = O.x + v.x;
                c1->y = O.y + v.y;
        if (c1) {
                c1->x = O.x + v.x;
                c1->y = O.y + v.y;

-               c1->r = norm(b1->x, b1->y, c1->x, c1->y);
+               c1->r = xy_norm(b1->x, b1->y, c1->x, c1->y);

        }
 
        /* get the circle c2 */
        if (c2) {
                c2->x = O.x - v.x;
                c2->y = O.y - v.y;
        }
 
        /* get the circle c2 */
        if (c2) {
                c2->x = O.x - v.x;
                c2->y = O.y - v.y;

-               c2->r = norm(b1->x, b1->y, c1->x, c1->y);
+               c2->r = xy_norm(b1->x, b1->y, c1->x, c1->y);

        }
 
        return 0;
        }
 
        return 0;


@@ -148,9 +148,9 @@ int8_t angles_to_posxy(point_t *pos, double a01, double a12, double a20)
        dprintf("p2: x=%2.2f y=%2.2f\n", p2.x, p2.y);
        dprintf("p3: x=%2.2f y=%2.2f\n", p3.x, p3.y);
 
        dprintf("p2: x=%2.2f y=%2.2f\n", p2.x, p2.y);
        dprintf("p3: x=%2.2f y=%2.2f\n", p3.x, p3.y);
 

-       /* if (norm(p1.x, p1.y, p2.x, p2.y) > POS_ACCURACY || */
-       /*     norm(p2.x, p2.y, p3.x, p3.y) > POS_ACCURACY || */
-       /*     norm(p3.x, p3.y, p1.x, p1.y) > POS_ACCURACY) */
+       /* if (xy_norm(p1.x, p1.y, p2.x, p2.y) > POS_ACCURACY || */
+       /*     xy_norm(p2.x, p2.y, p3.x, p3.y) > POS_ACCURACY || */
+       /*     xy_norm(p3.x, p3.y, p1.x, p1.y) > POS_ACCURACY) */

        /*      return -1; */
 
        pos->x = (p1.x + p2.x + p3.x) / 3.0;
        /*      return -1; */
 
        pos->x = (p1.x + p2.x + p3.x) / 3.0;

diff --git a/projects/microb2010/tests/static_beacon/.config.old b/projects/microb2010/tests/static_beacon/.config.old
deleted file mode 100644 (file)
index b0dbf0d..0000000
--- a/projects/microb2010/tests/static_beacon/.config.old
+++ /dev/null
@@ -1,251 +0,0 @@
-#
-# Automatically generated by make menuconfig: don't edit
-#
-
-#
-# Hardware
-#
-# CONFIG_MCU_AT90S2313 is not set
-# CONFIG_MCU_AT90S2323 is not set
-# CONFIG_MCU_AT90S3333 is not set
-# CONFIG_MCU_AT90S2343 is not set
-# CONFIG_MCU_ATTINY22 is not set
-# CONFIG_MCU_ATTINY26 is not set
-# CONFIG_MCU_AT90S4414 is not set
-# CONFIG_MCU_AT90S4433 is not set
-# CONFIG_MCU_AT90S4434 is not set
-# CONFIG_MCU_AT90S8515 is not set
-# CONFIG_MCU_AT90S8534 is not set
-# CONFIG_MCU_AT90S8535 is not set
-# CONFIG_MCU_AT86RF401 is not set
-# CONFIG_MCU_ATMEGA103 is not set
-# CONFIG_MCU_ATMEGA603 is not set
-# CONFIG_MCU_AT43USB320 is not set
-# CONFIG_MCU_AT43USB355 is not set
-# CONFIG_MCU_AT76C711 is not set
-CONFIG_MCU_ATMEGA8=y
-# CONFIG_MCU_ATMEGA48 is not set
-# CONFIG_MCU_ATMEGA88 is not set
-# CONFIG_MCU_ATMEGA8515 is not set
-# CONFIG_MCU_ATMEGA8535 is not set
-# CONFIG_MCU_ATTINY13 is not set
-# CONFIG_MCU_ATTINY2313 is not set
-# CONFIG_MCU_ATMEGA16 is not set
-# CONFIG_MCU_ATMEGA161 is not set
-# CONFIG_MCU_ATMEGA162 is not set
-# CONFIG_MCU_ATMEGA163 is not set
-# CONFIG_MCU_ATMEGA165 is not set
-# CONFIG_MCU_ATMEGA168 is not set
-# CONFIG_MCU_ATMEGA169 is not set
-# CONFIG_MCU_ATMEGA32 is not set
-# CONFIG_MCU_ATMEGA323 is not set
-# CONFIG_MCU_ATMEGA325 is not set
-# CONFIG_MCU_ATMEGA3250 is not set
-# CONFIG_MCU_ATMEGA64 is not set
-# CONFIG_MCU_ATMEGA645 is not set
-# CONFIG_MCU_ATMEGA6450 is not set
-# CONFIG_MCU_ATMEGA128 is not set
-# CONFIG_MCU_ATMEGA1281 is not set
-# CONFIG_MCU_AT90CAN128 is not set
-# CONFIG_MCU_AT94K is not set
-# CONFIG_MCU_AT90S1200 is not set
-# CONFIG_MCU_ATMEGA2560 is not set
-# CONFIG_MCU_ATMEGA256 is not set
-CONFIG_QUARTZ=16000000
-
-#
-# Generation options
-#
-# CONFIG_OPTM_0 is not set
-# CONFIG_OPTM_1 is not set
-# CONFIG_OPTM_2 is not set
-# CONFIG_OPTM_3 is not set
-CONFIG_OPTM_S=y
-# CONFIG_MATH_LIB is not set
-# CONFIG_FDEVOPEN_COMPAT is not set
-# CONFIG_NO_PRINTF is not set
-# CONFIG_MINIMAL_PRINTF is not set
-CONFIG_STANDARD_PRINTF=y
-# CONFIG_FORMAT_IHEX is not set
-# CONFIG_FORMAT_SREC is not set
-CONFIG_FORMAT_BINARY=y
-
-#
-# Base modules
-#
-CONFIG_MODULE_CIRBUF=y
-# CONFIG_MODULE_CIRBUF_LARGE is not set
-# CONFIG_MODULE_FIXED_POINT is not set
-# CONFIG_MODULE_VECT2 is not set
-# CONFIG_MODULE_GEOMETRY is not set
-# CONFIG_MODULE_SCHEDULER is not set
-# CONFIG_MODULE_SCHEDULER_STATS is not set
-# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
-# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
-CONFIG_MODULE_SCHEDULER_TIMER0=y
-# CONFIG_MODULE_SCHEDULER_MANUAL is not set
-# CONFIG_MODULE_TIME is not set
-# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
-# CONFIG_MODULE_TIME_EXT is not set
-# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
-
-#
-# Communication modules
-#
-CONFIG_MODULE_UART=y
-# CONFIG_MODULE_UART_9BITS is not set
-CONFIG_MODULE_UART_CREATE_CONFIG=y
-# CONFIG_MODULE_SPI is not set
-# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
-# CONFIG_MODULE_I2C is not set
-# CONFIG_MODULE_I2C_MASTER is not set
-# CONFIG_MODULE_I2C_MULTIMASTER is not set
-# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
-# CONFIG_MODULE_MF2_CLIENT is not set
-# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
-# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
-# CONFIG_MODULE_MF2_SERVER is not set
-# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
-
-#
-# Hardware modules
-#
-# CONFIG_MODULE_TIMER is not set
-# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
-# CONFIG_MODULE_TIMER_DYNAMIC is not set
-# CONFIG_MODULE_PWM is not set
-# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
-# CONFIG_MODULE_PWM_NG is not set
-# CONFIG_MODULE_ADC is not set
-# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
-
-#
-# IHM modules
-#
-# CONFIG_MODULE_MENU is not set
-# CONFIG_MODULE_VT100 is not set
-# CONFIG_MODULE_RDLINE is not set
-# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
-# CONFIG_MODULE_RDLINE_KILL_BUF is not set
-# CONFIG_MODULE_RDLINE_HISTORY is not set
-# CONFIG_MODULE_PARSE is not set
-# CONFIG_MODULE_PARSE_NO_FLOAT is not set
-
-#
-# External devices modules
-#
-# CONFIG_MODULE_LCD is not set
-# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
-# CONFIG_MODULE_MULTISERVO is not set
-# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
-# CONFIG_MODULE_AX12 is not set
-# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
-
-#
-# Brushless motor drivers (you should enable pwm modules to see all)
-#
-# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
-# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
-# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
-# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
-
-#
-# Encoders (you need comm/spi for encoders_spi)
-#
-# CONFIG_MODULE_ENCODERS_MICROB is not set
-# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
-# CONFIG_MODULE_ENCODERS_EIRBOT is not set
-# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
-# CONFIG_MODULE_ENCODERS_SPI is not set
-# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
-
-#
-# Robot specific modules
-#
-# CONFIG_MODULE_ROBOT_SYSTEM is not set
-# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
-# CONFIG_MODULE_POSITION_MANAGER is not set
-# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
-# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
-# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
-# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
-# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
-
-#
-# Control system modules
-#
-# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
-# CONFIG_MODULE_PID is not set
-# CONFIG_MODULE_PID_CREATE_CONFIG is not set
-# CONFIG_MODULE_RAMP is not set
-# CONFIG_MODULE_QUADRAMP is not set
-# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
-# CONFIG_MODULE_BIQUAD is not set
-
-#
-# Radio devices
-#
-# CONFIG_MODULE_CC2420 is not set
-# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
-
-#
-# Crypto modules
-#
-# CONFIG_MODULE_AES is not set
-# CONFIG_MODULE_AES_CTR is not set
-# CONFIG_MODULE_MD5 is not set
-# CONFIG_MODULE_MD5_HMAC is not set
-# CONFIG_MODULE_RC4 is not set
-
-#
-# Encodings modules
-#
-# CONFIG_MODULE_BASE64 is not set
-# CONFIG_MODULE_HAMMING is not set
-
-#
-# Debug modules
-#
-# CONFIG_MODULE_DIAGNOSTIC is not set
-# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
-# CONFIG_MODULE_ERROR is not set
-# CONFIG_MODULE_ERROR_CREATE_CONFIG is not set
-
-#
-# Programmer options
-#
-CONFIG_AVRDUDE=y
-# CONFIG_AVARICE is not set
-
-#
-# Avrdude
-#
-# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
-# CONFIG_AVRDUDE_PROG_ABCMINI is not set
-# CONFIG_AVRDUDE_PROG_PICOWEB is not set
-# CONFIG_AVRDUDE_PROG_SP12 is not set
-# CONFIG_AVRDUDE_PROG_ALF is not set
-# CONFIG_AVRDUDE_PROG_BASCOM is not set
-# CONFIG_AVRDUDE_PROG_DT006 is not set
-# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
-CONFIG_AVRDUDE_PROG_STK200=y
-# CONFIG_AVRDUDE_PROG_PAVR is not set
-# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
-# CONFIG_AVRDUDE_PROG_AVR910 is not set
-# CONFIG_AVRDUDE_PROG_STK500 is not set
-# CONFIG_AVRDUDE_PROG_AVRISP is not set
-# CONFIG_AVRDUDE_PROG_BSD is not set
-# CONFIG_AVRDUDE_PROG_DAPA is not set
-# CONFIG_AVRDUDE_PROG_JTAG1 is not set
-# CONFIG_AVRDUDE_PROG_AVR109 is not set
-CONFIG_AVRDUDE_PORT="/dev/parport0"
-CONFIG_AVRDUDE_BAUDRATE=19200
-
-#
-# Avarice
-#
-CONFIG_AVARICE_PORT="/dev/ttyS0"
-CONFIG_AVARICE_DEBUG_PORT=1234
-CONFIG_AVARICE_PROG_MKI=y
-# CONFIG_AVARICE_PROG_MKII is not set
-# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set

diff --git a/projects/microb2010/tests/static_beacon/uart_config.h b/projects/microb2010/tests/static_beacon/uart_config.h
new file mode 100644 (file)
index 0000000..67cb785
--- /dev/null
+++ b/projects/microb2010/tests/static_beacon/uart_config.h
@@ -0,0 +1,72 @@
+/*  \r
+ *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)\r
+ * \r
+ *  This program is free software; you can redistribute it and/or modify\r
+ *  it under the terms of the GNU General Public License as published by\r
+ *  the Free Software Foundation; either version 2 of the License, or\r
+ *  (at your option) any later version.\r
+ *\r
+ *  This program is distributed in the hope that it will be useful,\r
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
+ *  GNU General Public License for more details.\r
+ *\r
+ *  You should have received a copy of the GNU General Public License\r
+ *  along with this program; if not, write to the Free Software\r
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA\r
+ *\r
+ *  Revision : $Id: uart_config.h,v 1.3.10.1 2006-11-26 21:06:02 zer0 Exp $\r
+ *\r
+ */\r
+\r
+/* Droids-corp 2004 - Zer0\r
+ * config for uart module\r
+ */\r
+\r
+#ifndef UART_CONFIG_H\r
+#define UART_CONFIG_H\r
+\r
+/*\r
+ * UART0 definitions \r
+ */\r
+\r
+/* compile uart0 fonctions, undefine it to pass compilation */\r
+#define UART0_COMPILE  \r
+\r
+/* enable uart0 if == 1, disable if == 0 */\r
+#define UART0_ENABLED  1\r
+\r
+/* enable uart0 interrupts if == 1, disable if == 0 */\r
+#define UART0_INTERRUPT_ENABLED  1\r
+\r
+#define UART0_BAUDRATE 38400\r
+\r
+/* \r
+ * if you enable this, the maximum baudrate you can reach is \r
+ * higher, but the precision is lower. \r
+ */\r
+#define UART0_USE_DOUBLE_SPEED 0\r
+//#define UART0_USE_DOUBLE_SPEED 1\r
+\r
+#define UART0_RX_FIFO_SIZE 4\r
+#define UART0_TX_FIFO_SIZE 4\r
+//#define UART0_NBITS 5\r
+//#define UART0_NBITS 6\r
+//#define UART0_NBITS 7\r
+#define UART0_NBITS 8\r
+//#define UART0_NBITS 9\r
+\r
+#define UART0_PARITY UART_PARTITY_NONE\r
+//#define UART0_PARITY UART_PARTITY_ODD\r
+//#define UART0_PARITY UART_PARTITY_EVEN\r
+\r
+#define UART0_STOP_BIT UART_STOP_BITS_1\r
+//#define UART0_STOP_BIT UART_STOP_BITS_2\r
+\r
+\r
+\r
+\r
+/* .... same for uart 1, 2, 3 ... */\r
+\r
+#endif\r
+\r