From bd8acd4f11e6720c96946a7537df5538c0a9a5d4 Mon Sep 17 00:00:00 2001 From: zer0 Date: Sat, 19 Dec 2009 19:48:40 +0100 Subject: [PATCH] remove ~files --- config/config.in.~1.42.4.32.~ | 553 ------------------ .../robot_system/robot_system.c.~1.6.4.7.~ | 458 --------------- .../microb2010/common/i2c_commands.h.~1.9.~ | 291 --------- projects/microb2010/mainboard/.config.~1.5.~ | 251 -------- projects/microb2010/mainboard/Makefile.~1.6.~ | 29 - 5 files changed, 1582 deletions(-) delete mode 100644 config/config.in.~1.42.4.32.~ delete mode 100755 modules/devices/robot/robot_system/robot_system.c.~1.6.4.7.~ delete mode 100644 projects/microb2010/common/i2c_commands.h.~1.9.~ delete mode 100644 projects/microb2010/mainboard/.config.~1.5.~ delete mode 100755 projects/microb2010/mainboard/Makefile.~1.6.~ diff --git a/config/config.in.~1.42.4.32.~ b/config/config.in.~1.42.4.32.~ deleted file mode 100644 index 583b736..0000000 --- a/config/config.in.~1.42.4.32.~ +++ /dev/null @@ -1,553 +0,0 @@ -mainmenu_name "Aversive project configuration" - -############################################################################# - -mainmenu_option next_comment -comment 'Hardware' -# name must be CONFIG_MCU_##mcu name## - -choice 'Avr type' "\ - AT90s2313 CONFIG_MCU_AT90S2313 \ - AT90s2323 CONFIG_MCU_AT90S2323 \ - AT90s2333 CONFIG_MCU_AT90S3333 \ - AT90s2343 CONFIG_MCU_AT90S2343 \ - ATtiny22 CONFIG_MCU_ATTINY22 \ - ATtiny26 CONFIG_MCU_ATTINY26 \ - AT90s4414 CONFIG_MCU_AT90S4414 \ - AT90s4433 CONFIG_MCU_AT90S4433 \ - AT90s4434 CONFIG_MCU_AT90S4434 \ - AT90s8515 CONFIG_MCU_AT90S8515 \ - AT90c8534 CONFIG_MCU_AT90S8534 \ - AT90s8535 CONFIG_MCU_AT90S8535 \ - AT86rf401 CONFIG_MCU_AT86RF401 \ - ATmega103 CONFIG_MCU_ATMEGA103 \ - ATmega603 CONFIG_MCU_ATMEGA603 \ - AT43usb320 CONFIG_MCU_AT43USB320 \ - AT43usb355 CONFIG_MCU_AT43USB355 \ - AT76c711 CONFIG_MCU_AT76C711 \ - ATmega8 CONFIG_MCU_ATMEGA8 \ - ATmega48 CONFIG_MCU_ATMEGA48 \ - ATmega88 CONFIG_MCU_ATMEGA88 \ - ATmega8515 CONFIG_MCU_ATMEGA8515 \ - ATmega8535 CONFIG_MCU_ATMEGA8535 \ - ATtiny13 CONFIG_MCU_ATTINY13 \ - ATtiny2313 CONFIG_MCU_ATTINY2313 \ - ATmega16 CONFIG_MCU_ATMEGA16 \ - ATmega161 CONFIG_MCU_ATMEGA161 \ - ATmega162 CONFIG_MCU_ATMEGA162 \ - ATmega163 CONFIG_MCU_ATMEGA163 \ - ATmega165 CONFIG_MCU_ATMEGA165 \ - ATmega168 CONFIG_MCU_ATMEGA168 \ - ATmega169 CONFIG_MCU_ATMEGA169 \ - ATmega32 CONFIG_MCU_ATMEGA32 \ - ATmega323 CONFIG_MCU_ATMEGA323 \ - ATmega325 CONFIG_MCU_ATMEGA325 \ - ATmega3250 CONFIG_MCU_ATMEGA3250 \ - ATmega64 CONFIG_MCU_ATMEGA64 \ - ATmega645 CONFIG_MCU_ATMEGA645 \ - ATmega6450 CONFIG_MCU_ATMEGA6450 \ - ATmega128 CONFIG_MCU_ATMEGA128 \ - ATmega1281 CONFIG_MCU_ATMEGA1281 \ - AT90can128 CONFIG_MCU_AT90CAN128 \ - AT94k CONFIG_MCU_AT94K \ - AT90s1200 CONFIG_MCU_AT90S1200 \ - ATmega2560 CONFIG_MCU_ATMEGA2560 \ - ATmega256 CONFIG_MCU_ATMEGA256 \ -" ATmega128 - -int 'Quartz Frequency (Hz)' CONFIG_QUARTZ '12000000' - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'Generation options' - - -choice 'Optimization level' "\ - -O0 CONFIG_OPTM_0 \ - -O1 CONFIG_OPTM_1 \ - -O2 CONFIG_OPTM_2 \ - -O3 CONFIG_OPTM_3 \ - -Os CONFIG_OPTM_S \ -" -Os - -bool 'Include Math lib' CONFIG_MATH_LIB - -bool 'fdevopen compatibility' CONFIG_FDEVOPEN_COMPAT - -# printf version, advanced depends on math lib -if [ "$CONFIG_MATH_LIB" = "y" ]; then - -choice 'Printf capabilities' "\ - none CONFIG_NO_PRINTF \ - minimal CONFIG_MINIMAL_PRINTF \ - standard CONFIG_STANDARD_PRINTF \ - advanced CONFIG_ADVANCED_PRINTF \ -" standard - -else - -choice 'Printf capabilities' "\ - none CONFIG_NO_PRINTF \ - minimal CONFIG_MINIMAL_PRINTF \ - standard CONFIG_STANDARD_PRINTF \ -" standard - -fi - -choice 'Default output format' "\ - ihex CONFIG_FORMAT_IHEX \ - srec CONFIG_FORMAT_SREC \ - binary CONFIG_FORMAT_BINARY \ -" ihex - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'Base modules' - -comment 'Enable math library in generation options to see all modules' - -#### CIRCULAR BUFFER -bool 'Circular buffer' CONFIG_MODULE_CIRBUF -dep_bool ' |-- Allow buffer larger than 127' CONFIG_MODULE_CIRBUF_LARGE \ - $CONFIG_MODULE_CIRBUF - - -#### FIXED_POINT -dep_bool 'Fixed_Point lib' CONFIG_MODULE_FIXED_POINT \ - $CONFIG_MATH_LIB - - -#### VECT2 -dep_bool 'Vect2 lib' CONFIG_MODULE_VECT2 \ - $CONFIG_MATH_LIB - -#### GEOMETRY -dep_bool 'Geometry lib' CONFIG_MODULE_GEOMETRY \ - $CONFIG_MATH_LIB - -#### SCHEDULER -bool 'Scheduler' CONFIG_MODULE_SCHEDULER - -dep_bool ' |-- enable debug statistics' CONFIG_MODULE_SCHEDULER_STATS \ - $CONFIG_MODULE_SCHEDULER - -dep_bool ' |-- Create Default scheduler config' CONFIG_MODULE_SCHEDULER_CREATE_CONFIG \ - $CONFIG_MODULE_SCHEDULER - -if [ "$CONFIG_MODULE_TIMER" = "y" ]; then - -choice 'Scheduler config' "use_timer_module CONFIG_MODULE_SCHEDULER_USE_TIMERS\ - use_timer0 CONFIG_MODULE_SCHEDULER_TIMER0\ - manual CONFIG_MODULE_SCHEDULER_MANUAL" use_timer_module - -else - -choice 'Scheduler config' "use_timer_module CONFIG_MODULE_SCHEDULER_USE_TIMERS\ - use_timer0 CONFIG_MODULE_SCHEDULER_TIMER0\ - manual CONFIG_MODULE_SCHEDULER_MANUAL" use_timer0 - -fi - -#### TIME -dep_bool 'Time' CONFIG_MODULE_TIME \ - $CONFIG_MODULE_SCHEDULER - -dep_bool ' |-- Create Default time config' CONFIG_MODULE_TIME_CREATE_CONFIG \ - $CONFIG_MODULE_TIME - -#### TIME_EXT -bool 'Time - reloaded' CONFIG_MODULE_TIME_EXT - -dep_bool ' |-- Create Default time_ext config' CONFIG_MODULE_TIME_EXT_CREATE_CONFIG \ - $CONFIG_MODULE_TIME_EXT - - - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'Communication modules' - -comment 'uart needs circular buffer, mf2 client may need scheduler' - -#### UART -dep_bool 'Uart' CONFIG_MODULE_UART \ - $CONFIG_MODULE_CIRBUF - -dep_bool ' |-- Allow 9 bits operations' CONFIG_MODULE_UART_9BITS \ - $CONFIG_MODULE_UART - -dep_bool ' |-- Create Default uart config' CONFIG_MODULE_UART_CREATE_CONFIG \ - $CONFIG_MODULE_UART - -#### SPI -bool 'spi (very EXPERIMENTAL)' CONFIG_MODULE_SPI - -dep_bool ' |-- Create Default spi config' CONFIG_MODULE_SPI_CREATE_CONFIG \ - $CONFIG_MODULE_SPI - -#### I2C -bool 'i2c' CONFIG_MODULE_I2C - -dep_bool ' |-- Allow master mode' CONFIG_MODULE_I2C_MASTER \ - $CONFIG_MODULE_I2C - -dep_bool ' |-- Allow multimaster mode' CONFIG_MODULE_I2C_MULTIMASTER \ - $CONFIG_MODULE_I2C_MASTER - -dep_bool ' |-- Create Default i2c config' CONFIG_MODULE_I2C_CREATE_CONFIG \ - $CONFIG_MODULE_I2C - - -#### MF2_CLIENT -bool 'mf2_client (very EXPERIMENTAL)' CONFIG_MODULE_MF2_CLIENT - -dep_bool ' |-- Use scheduler (watchdog + no active loops)' CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER \ - $CONFIG_MODULE_MF2_CLIENT \ - $CONFIG_MODULE_SCHEDULER - -dep_bool ' |-- Create Default mf2_client config' CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG \ - $CONFIG_MODULE_MF2_CLIENT - -#### MF2_SERVER -bool 'mf2_server (very EXPERIMENTAL)' CONFIG_MODULE_MF2_SERVER - -dep_bool ' |-- Create Default mf2_server config' CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG \ - $CONFIG_MODULE_MF2_SERVER - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'Hardware modules' - -#### TIMER -bool 'Timer' CONFIG_MODULE_TIMER - -dep_bool ' |-- Create Default timer config' CONFIG_MODULE_TIMER_CREATE_CONFIG \ - $CONFIG_MODULE_TIMER - -dep_bool ' |-- Allow dynamic modification of prescaler' CONFIG_MODULE_TIMER_DYNAMIC \ - $CONFIG_MODULE_TIMER - - -#### PWM -bool 'PWM' CONFIG_MODULE_PWM - -dep_bool ' |-- Create Default pwm config' CONFIG_MODULE_PWM_CREATE_CONFIG \ - $CONFIG_MODULE_PWM - - -#### PWM_NG -bool 'PWM_ng' CONFIG_MODULE_PWM_NG - -#### ADC -bool 'ADC' CONFIG_MODULE_ADC - -dep_bool ' |-- Create Default adc config' CONFIG_MODULE_ADC_CREATE_CONFIG \ - $CONFIG_MODULE_ADC - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'IHM modules' - -#### menu -bool 'Menu' CONFIG_MODULE_MENU - -#### vt100 -bool 'Vt100' CONFIG_MODULE_VT100 - -#### rdline -dep_bool 'Rdline' CONFIG_MODULE_RDLINE \ - $CONFIG_MODULE_VT100 \ - $CONFIG_MODULE_CIRBUF - -dep_bool ' |-- Create Default rdline config' CONFIG_MODULE_RDLINE_CREATE_CONFIG \ - $CONFIG_MODULE_RDLINE - -dep_bool ' |-- Enable cut/paste' CONFIG_MODULE_RDLINE_KILL_BUF \ - $CONFIG_MODULE_RDLINE - -dep_bool ' |-- Enable history' CONFIG_MODULE_RDLINE_HISTORY \ - $CONFIG_MODULE_RDLINE - -#### parse - -bool 'Parse' CONFIG_MODULE_PARSE -dep_bool ' |-- Do not parse float' CONFIG_MODULE_PARSE_NO_FLOAT \ - $CONFIG_MODULE_PARSE - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'External devices modules' - -#### LCD -bool 'LCD' CONFIG_MODULE_LCD - -dep_bool ' |-- Create Default lcd config' CONFIG_MODULE_LCD_CREATE_CONFIG \ - $CONFIG_MODULE_LCD - -#### SERVO -bool 'Multiservo' CONFIG_MODULE_MULTISERVO - -dep_bool ' |-- Create Default servo config' CONFIG_MODULE_MULTISERVO_CREATE_CONFIG \ - $CONFIG_MODULE_MULTISERVO - -bool 'AX-12' CONFIG_MODULE_AX12 - -dep_bool ' |-- Create Default AX-12 config' CONFIG_MODULE_AX12_CREATE_CONFIG\ - $CONFIG_MODULE_AX12 - -mainmenu_option next_comment -comment 'Brushless motor drivers (you should enable pwm modules to see all)' - -#### CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL -dep_bool '3 phase motor with digital hall sensors' CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL \ - $CONFIG_MODULE_PWM - -dep_bool ' |-- Create Default brushless_3phase_digital_hall config' CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG \ - $CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL - -#### CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE -dep_bool 'two 3 phase motor with digital hall sensors' CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE \ - $CONFIG_MODULE_PWM - -dep_bool ' Create Default brushless_3phase_digital_hall_double config' CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG \ - $CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE - -endmenu # (brushless) - -mainmenu_option next_comment -comment 'Encoders (you need comm/spi for encoders_spi)' - -#### ENCODERS -bool 'Encoders (microb)' CONFIG_MODULE_ENCODERS_MICROB - -dep_bool ' |-- Create Default encoders_microb config' CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG \ - $CONFIG_MODULE_ENCODERS_MICROB - -#### ENCODERS -bool 'Encoders (eirbot)' CONFIG_MODULE_ENCODERS_EIRBOT - -dep_bool ' |-- Create Default encoders_eirbot config' CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG \ - $CONFIG_MODULE_ENCODERS_EIRBOT - -#### ENCODERS -dep_bool 'Encoders_spi (microb)' CONFIG_MODULE_ENCODERS_SPI \ - $CONFIG_MODULE_SPI - -dep_bool ' |-- Create Default encoders_spi config' CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG \ - $CONFIG_MODULE_ENCODERS_SPI - -endmenu # (encoders) - -mainmenu_option next_comment -comment 'Robot specific modules' - -#### ROBOT_SYSTEM -dep_bool 'Robot System' CONFIG_MODULE_ROBOT_SYSTEM \ - $CONFIG_MODULE_FIXED_POINT - -dep_bool ' |-- Allow motor and external encoders' CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT \ - $CONFIG_MODULE_ROBOT_SYSTEM - -#### POSITION_MANAGER -dep_bool 'Position manager' CONFIG_MODULE_POSITION_MANAGER \ - $CONFIG_MODULE_ROBOT_SYSTEM - -dep_bool ' |-- Compensate centrifugal force' CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE \ - $CONFIG_MODULE_POSITION_MANAGER - -#### TRAJECTORY MANAGER -dep_bool 'Trajectory manager' CONFIG_MODULE_TRAJECTORY_MANAGER \ - $CONFIG_MODULE_POSITION_MANAGER \ - $CONFIG_MODULE_SCHEDULER \ - $CONFIG_MODULE_VECT2 \ - $CONFIG_MODULE_FIXED_POINT - -#### BLOCKING DETECTION MANAGER -bool 'Blocking detection manager' CONFIG_MODULE_BLOCKING_DETECTION_MANAGER - -#### OBSTACLE AVOIDANCE -dep_bool 'Obstacle Avoidance' CONFIG_MODULE_OBSTACLE_AVOIDANCE\ - $CONFIG_MODULE_GEOMETRY - -dep_bool ' |-- Create Default Obstacle Avoidance config' CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG \ - $CONFIG_MODULE_OBSTACLE_AVOIDANCE - -endmenu # (robot) - -mainmenu_option next_comment -comment 'Control system modules' - -#### CONTROL SYSTEM MANAGER -bool 'Control System Manager' CONFIG_MODULE_CONTROL_SYSTEM_MANAGER - -comment 'Filters' - -bool 'PID' CONFIG_MODULE_PID - -dep_bool ' |-- Create Default PID config' CONFIG_MODULE_PID_CREATE_CONFIG \ - $CONFIG_MODULE_PID - -bool 'ramp' CONFIG_MODULE_RAMP - -bool 'Quadramp' CONFIG_MODULE_QUADRAMP - -bool 'Quadramp derivate' CONFIG_MODULE_QUADRAMP_DERIVATE - -bool 'Biquad' CONFIG_MODULE_BIQUAD - -endmenu # (control system) - - -mainmenu_option next_comment -comment 'Radio devices' -comment 'Some radio devices require SPI to be activated' -#### RADIO DEVICES -dep_bool 'CC2420 Radio Device (IEEE 802.15.4) (VERY EXPERIMENTAL)' CONFIG_MODULE_CC2420 \ - $CONFIG_MODULE_SPI - -dep_bool ' |-- Create Default CC2420 config' CONFIG_MODULE_CC2420_CREATE_CONFIG \ - $CONFIG_MODULE_CC2420 - -endmenu # radio - - -endmenu # (devices) - -############################################################################# - - -mainmenu_option next_comment -comment 'Crypto modules' - -comment 'Crypto modules depend on utils module' - -#### AES -bool 'aes' CONFIG_MODULE_AES - -dep_bool 'aes counter mode' CONFIG_MODULE_AES_CTR \ - $CONFIG_MODULE_AES - -#### MD5 -bool 'md5' CONFIG_MODULE_MD5 - -dep_bool 'md5 hmac' CONFIG_MODULE_MD5_HMAC \ - $CONFIG_MODULE_MD5 - -#### RC4 -bool 'rc4' CONFIG_MODULE_RC4 - -endmenu # (crypto) - -############################################################################# - - -mainmenu_option next_comment -comment 'Encodings modules' - -comment 'Encoding modules depend on utils module' - -#### BASE 64 -bool 'Base64 encoding (PEM)' CONFIG_MODULE_BASE64 - -#### HAMMING -bool 'Hamming' CONFIG_MODULE_HAMMING - -endmenu # (encodings) - - -############################################################################# - - -mainmenu_option next_comment -comment 'Debug modules' - -comment 'Debug modules depend on utils module' - -#### DIAGNOSTIC -bool 'diagnostic' CONFIG_MODULE_DIAGNOSTIC - -dep_bool ' |-- Create Default diagnostic config' CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG \ - $CONFIG_MODULE_DIAGNOSTIC - -#### ERROR -bool 'error' CONFIG_MODULE_ERROR - -dep_bool ' |-- Create Default error config' CONFIG_MODULE_ERROR_CREATE_CONFIG \ - $CONFIG_MODULE_ERROR - -endmenu - -############################################################################# - -mainmenu_option next_comment -comment 'Programmer options' - -choice 'Programmer' "avrdude CONFIG_AVRDUDE\ - avarice CONFIG_AVARICE -" avrdude - -mainmenu_option next_comment -comment 'Avrdude' - -choice 'Programmer type' "futurlec CONFIG_AVRDUDE_PROG_FUTURELEC\ - abcmini CONFIG_AVRDUDE_PROG_ABCMINI\ - picoweb CONFIG_AVRDUDE_PROG_PICOWEB\ - sp12 CONFIG_AVRDUDE_PROG_SP12\ - alf CONFIG_AVRDUDE_PROG_ALF\ - bascom CONFIG_AVRDUDE_PROG_BASCOM\ - dt006 CONFIG_AVRDUDE_PROG_DT006\ - pony-stk200 CONFIG_AVRDUDE_PROG_PONY_STK200\ - stk200 CONFIG_AVRDUDE_PROG_STK200\ - pavr CONFIG_AVRDUDE_PROG_PAVR\ - butterfly CONFIG_AVRDUDE_PROG_BUTTERFLY\ - avr910 CONFIG_AVRDUDE_PROG_AVR910\ - stk500 CONFIG_AVRDUDE_PROG_STK500\ - avrisp CONFIG_AVRDUDE_PROG_AVRISP\ - bsd CONFIG_AVRDUDE_PROG_BSD\ - dapa CONFIG_AVRDUDE_PROG_DAPA\ - jtag1 CONFIG_AVRDUDE_PROG_JTAG1\ - avr109 CONFIG_AVRDUDE_PROG_AVR109\ -" stk200 - -string 'Port device' CONFIG_AVRDUDE_PORT '/dev/parport0' - -int 'Programmer baudrate' CONFIG_AVRDUDE_BAUDRATE '19200' - -endmenu - -mainmenu_option next_comment -comment 'Avarice' - -string 'Port device' CONFIG_AVARICE_PORT '/dev/ttyS0' - -int 'Debug TCP Port' CONFIG_AVARICE_DEBUG_PORT '1234' - -choice 'Programmer type' "mkI CONFIG_AVARICE_PROG_MKI\ - mkII CONFIG_AVARICE_PROG_MKII -" mkI - -endmenu - -bool 'Check device signature' CONFIG_AVRDUDE_CHECK_SIGNATURE - -endmenu - -############################################################################# diff --git a/modules/devices/robot/robot_system/robot_system.c.~1.6.4.7.~ b/modules/devices/robot/robot_system/robot_system.c.~1.6.4.7.~ deleted file mode 100755 index be158e6..0000000 --- a/modules/devices/robot/robot_system/robot_system.c.~1.6.4.7.~ +++ /dev/null @@ -1,458 +0,0 @@ -/* - * Copyright Droids Corporation, Microb Technology, Eirbot (2005) - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - * - * Revision : $Id: robot_system.c,v 1.6.4.7 2009-03-29 18:48:23 zer0 Exp $ - * - */ - -/** - * The goal of this module is to provide an interface to motor and - * encoders of the robot. This module provide a function that returns - * the value of virtual encoders containing distance and angle. It - * also allow the user to command virtual angle and distance PWMs. - */ - -#include -#include - -#include - -#include -#include - -#include "angle_distance.h" -#include "robot_system.h" - - -/** Call a pwm() pointer : - * - lock the interrupts - * - read the pointer to the pwm function - * - unlock the interrupts - * - if pointer is null, don't do anything - * - else call the pwm with the parameters - */ -static inline void -safe_setpwm(void (*f)(void *, int32_t), void * param, int32_t value) -{ - void (*f_tmp)(void *, int32_t); - void * param_tmp; - uint8_t flags; - IRQ_LOCK(flags); - f_tmp = f; - param_tmp = param; - IRQ_UNLOCK(flags); - if (f_tmp) { - f_tmp(param_tmp, value); - } -} - -/** Call a encoder() pointer : - * - lock the interrupts - * - read the pointer to the encoder function - * - unlock the interrupts - * - if pointer is null, return 0 - * - else return the value processed by the function - */ -static inline uint32_t -safe_getencoder(int32_t (*f)(void *), void * param) -{ - int32_t (*f_tmp)(void *); - void * param_tmp; - uint8_t flags; - IRQ_LOCK(flags); - f_tmp = f; - param_tmp = param; - IRQ_UNLOCK(flags); - if (f_tmp) { - return f_tmp(param_tmp); - } - return 0; -} - -/** Set the structure to 0 */ -void rs_init( struct robot_system * rs) -{ - uint8_t flags; - - IRQ_LOCK(flags); - memset(rs, 0, sizeof(struct robot_system)); -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - rs_set_ratio(rs, 1.0); -#endif - IRQ_UNLOCK(flags); -} - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT -/** define ratio between mot and ext track. (track_mot / track_ext) */ -void rs_set_ratio(struct robot_system * rs, double ratio) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->ratio_mot_ext = f64_from_double(ratio); - IRQ_UNLOCK(flags); -} -#endif - -/** define left PWM function and param */ -void rs_set_left_pwm(struct robot_system * rs, void (*left_pwm)(void *, int32_t), void *left_pwm_param) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->left_pwm = left_pwm; - rs->left_pwm_param = left_pwm_param; - IRQ_UNLOCK(flags); -} - -/** define right PWM function and param */ -void rs_set_right_pwm(struct robot_system * rs, void (*right_pwm)(void *, int32_t), void *right_pwm_param) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->right_pwm = right_pwm; - rs->right_pwm_param = right_pwm_param; - IRQ_UNLOCK(flags); -} - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT -/** define left motor encoder function and param */ -void rs_set_left_mot_encoder(struct robot_system * rs, int32_t (*left_mot_encoder)(void *), - void *left_mot_encoder_param, double gain) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->left_mot_encoder = left_mot_encoder; - rs->left_mot_encoder_param = left_mot_encoder_param; - rs->left_mot_gain = f64_from_double(gain); - IRQ_UNLOCK(flags); -} - -/** define right motor encoder function and param */ -void rs_set_right_mot_encoder(struct robot_system * rs, int32_t (*right_mot_encoder)(void *), - void *right_mot_encoder_param, double gain) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->right_mot_encoder = right_mot_encoder; - rs->right_mot_encoder_param = right_mot_encoder_param; - rs->right_mot_gain = f64_from_double(gain); - IRQ_UNLOCK(flags); -} -#endif - -/** define left external encoder function and param */ -void rs_set_left_ext_encoder(struct robot_system * rs, int32_t (*left_ext_encoder)(void *), - void *left_ext_encoder_param, double gain) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->left_ext_encoder = left_ext_encoder; - rs->left_ext_encoder_param = left_ext_encoder_param; - rs->left_ext_gain = f64_from_double(gain); - IRQ_UNLOCK(flags); -} - -/** define right external encoder function and param */ -void rs_set_right_ext_encoder(struct robot_system * rs, int32_t (*right_ext_encoder)(void *), - void *right_ext_encoder_param, double gain) -{ - uint8_t flags; - - IRQ_LOCK(flags); - rs->right_ext_encoder = right_ext_encoder; - rs->right_ext_encoder_param = right_ext_encoder_param; - rs->right_ext_gain = f64_from_double(gain); - IRQ_UNLOCK(flags); -} - -/**** Virtual encoders and PWM */ - -/** - * set the real pwms according to the specified angle (it also - * depends on the last distance command sent) - */ -void rs_set_angle(void * data, int32_t angle) -{ - struct rs_polar p; - struct rs_wheels w; - struct robot_system * rs = data; - uint8_t flags; - - IRQ_LOCK(flags); - p.distance = rs->virtual_pwm.distance ; - rs->virtual_pwm.angle = angle; - IRQ_UNLOCK(flags); - - p.angle = angle; - rs_get_wheels_from_polar(&w, &p); - - safe_setpwm(rs->left_pwm, rs->left_pwm_param, w.left); - safe_setpwm(rs->right_pwm, rs->right_pwm_param, w.right); -} - -/** - * set the real pwms according to the specified distance (it also - * depends on the last angle command sent) - */ -void rs_set_distance(void * data, int32_t distance) -{ - struct robot_system * rs = data; - struct rs_polar p; - struct rs_wheels w; - uint8_t flags; - - IRQ_LOCK(flags); - p.angle = rs->virtual_pwm.angle ; - rs->virtual_pwm.distance = distance; - IRQ_UNLOCK(flags); - - p.distance = distance; - rs_get_wheels_from_polar(&w, &p); - - safe_setpwm(rs->left_pwm, rs->left_pwm_param, w.left); - safe_setpwm(rs->right_pwm, rs->right_pwm_param, w.right); -} - -/** - * get the virtual angle according to real encoders value. - */ -int32_t rs_get_angle(void * data) -{ - struct robot_system * rs = data; - int32_t angle; - uint8_t flags; - - IRQ_LOCK(flags); - angle = rs->virtual_encoders.angle ; - IRQ_UNLOCK(flags); - return angle; -} - -/** - * get the virtual distance according to real encoders value. - */ -int32_t rs_get_distance(void * data) -{ - struct robot_system * rs = data; - int32_t distance; - uint8_t flags; - - IRQ_LOCK(flags); - distance = rs->virtual_encoders.distance ; - IRQ_UNLOCK(flags); - return distance; -} - -int32_t rs_get_ext_angle(void * data) -{ - struct robot_system * rs = data; - int32_t angle; - uint8_t flags; - - IRQ_LOCK(flags); - angle = rs->pext_prev.angle ; - IRQ_UNLOCK(flags); - return angle; -} - -int32_t rs_get_ext_distance(void * data) -{ - struct robot_system * rs = data; - int32_t distance; - uint8_t flags; - - IRQ_LOCK(flags); - distance = rs->pext_prev.distance ; - IRQ_UNLOCK(flags); - return distance; -} - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT -int32_t rs_get_mot_angle(void * data) -{ - struct robot_system * rs = data; - int32_t angle; - uint8_t flags; - - IRQ_LOCK(flags); - angle = rs->pmot_prev.angle ; - IRQ_UNLOCK(flags); - return angle; -} - -int32_t rs_get_mot_distance(void * data) -{ - struct robot_system * rs = data; - int32_t distance; - uint8_t flags; - - IRQ_LOCK(flags); - distance = rs->pmot_prev.distance ; - IRQ_UNLOCK(flags); - return distance; -} -#endif - -int32_t rs_get_ext_left(void * data) -{ - struct robot_system * rs = data; - int32_t left; - uint8_t flags; - - IRQ_LOCK(flags); - left = rs->wext_prev.left ; - IRQ_UNLOCK(flags); - return left; -} - -int32_t rs_get_ext_right(void * data) -{ - struct robot_system * rs = data; - int32_t right; - uint8_t flags; - - IRQ_LOCK(flags); - right = rs->wext_prev.right ; - IRQ_UNLOCK(flags); - return right; -} - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT -int32_t rs_get_mot_left(void * data) -{ - struct robot_system * rs = data; - int32_t left; - uint8_t flags; - - IRQ_LOCK(flags); - left = rs->wmot_prev.left ; - IRQ_UNLOCK(flags); - return left; -} - -int32_t rs_get_mot_right(void * data) -{ - struct robot_system * rs = data; - int32_t right; - uint8_t flags; - - IRQ_LOCK(flags); - right = rs->wmot_prev.right ; - IRQ_UNLOCK(flags); - return right; -} -#endif - -void rs_set_flags(struct robot_system * rs, uint8_t flags) -{ - uint8_t i_flags; - - IRQ_LOCK(i_flags); - rs->flags = flags; - IRQ_UNLOCK(i_flags); -} - -/** - * Read the encoders, and update internal virtual counters. Call this - * function is needed before reading the virtual encoders.The program - * will decide if it the external encoders or the motor encoders are - * taken in account (depending on flags, but not yet) - */ -void rs_update(void * data) -{ - struct robot_system * rs = data; - struct rs_wheels wext; - struct rs_polar pext; -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - struct rs_wheels wmot; - struct rs_polar pmot; -#endif - int32_t delta_angle, delta_distance; - uint8_t flags; - - /* read encoders */ - wext.left = safe_getencoder(rs->left_ext_encoder, rs->left_ext_encoder_param); - wext.right = safe_getencoder(rs->right_ext_encoder, rs->right_ext_encoder_param); - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - wmot.left = safe_getencoder(rs->left_mot_encoder, rs->left_mot_encoder_param); - wmot.right = safe_getencoder(rs->right_mot_encoder, rs->right_mot_encoder_param); -#endif - - /* apply gains to each wheel */ - if (! (rs->flags & RS_IGNORE_EXT_GAIN )) { - wext.left = f64_msb_mul(f64_from_lsb(wext.left), rs->left_ext_gain); - wext.right = f64_msb_mul(f64_from_lsb(wext.right), rs->right_ext_gain); - } - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - if (! (rs->flags & RS_IGNORE_MOT_GAIN )) { - wmot.left = f64_msb_mul(f64_from_lsb(wmot.left), rs->left_mot_gain); - wmot.right = f64_msb_mul(f64_from_lsb(wmot.right), rs->right_mot_gain); - } -#endif - - rs_get_polar_from_wheels(&pext, &wext); -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - rs_get_polar_from_wheels(&pmot, &wmot); - - /* apply ratio to polar and reupdate wheels for ext coders */ - pext.angle = f64_msb_mul(f64_from_lsb(pext.angle), rs->ratio_mot_ext); - rs_get_wheels_from_polar(&wext, &pext); -#endif - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - /* update from external encoders */ - if (rs->flags & RS_USE_EXT) { - delta_angle = pext.angle - rs->pext_prev.angle; - delta_distance = pext.distance - rs->pext_prev.distance; - } - - /* update from motor encoders */ - else { - delta_angle = pmot.angle - rs->pmot_prev.angle; - delta_distance = pmot.distance - rs->pmot_prev.distance; - } -#else - delta_angle = pext.angle - rs->pext_prev.angle; - delta_distance = pext.distance - rs->pext_prev.distance; -#endif - - IRQ_LOCK(flags); - rs->virtual_encoders.angle += delta_angle; - rs->virtual_encoders.distance += delta_distance; - IRQ_UNLOCK(flags); - - /* don't lock too much time */ - - IRQ_LOCK(flags); - rs->pext_prev = pext; - rs->wext_prev = wext; - IRQ_UNLOCK(flags); - -#ifdef CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT - IRQ_LOCK(flags); - rs->pmot_prev = pmot; - rs->wmot_prev = wmot; - IRQ_UNLOCK(flags); -#endif -} diff --git a/projects/microb2010/common/i2c_commands.h.~1.9.~ b/projects/microb2010/common/i2c_commands.h.~1.9.~ deleted file mode 100644 index d3072bc..0000000 --- a/projects/microb2010/common/i2c_commands.h.~1.9.~ +++ /dev/null @@ -1,291 +0,0 @@ -/* - * Copyright Droids Corporation (2007) - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - * - * Revision : $Id: i2c_commands.h,v 1.9 2009-05-27 20:04:06 zer0 Exp $ - * - */ - -#ifndef _I2C_COMMANDS_H_ -#define _I2C_COMMANDS_H_ - -#define I2C_MAINBOARD_ADDR 1 -#define I2C_MECHBOARD_ADDR 2 -#define I2C_SENSORBOARD_ADDR 3 - -#define I2C_LEFT_SIDE 0 -#define I2C_RIGHT_SIDE 1 -#define I2C_AUTO_SIDE 2 /* for prepare_pickup */ -#define I2C_CENTER_SIDE 3 /* for prepare_pickup */ - -#define I2C_COLOR_RED 0 -#define I2C_COLOR_GREEN 1 - -#define I2C_AUTOBUILD_DEFAULT_DIST 210 - -struct i2c_cmd_hdr { - uint8_t cmd; -}; - -/****/ -/* commands that do not need and answer */ -/****/ - -#define I2C_CMD_GENERIC_LED_CONTROL 0x00 - -struct i2c_cmd_led_control { - struct i2c_cmd_hdr hdr; - uint8_t led_num:7; - uint8_t state:1; -}; - -/****/ - -#define I2C_CMD_GENERIC_SET_COLOR 0x01 - -struct i2c_cmd_generic_color { - struct i2c_cmd_hdr hdr; - uint8_t color; -}; - -/****/ - -#define I2C_CMD_MECHBOARD_SET_MODE 0x02 - -struct i2c_cmd_mechboard_set_mode { - struct i2c_cmd_hdr hdr; -#define I2C_MECHBOARD_MODE_MANUAL 0x00 -#define I2C_MECHBOARD_MODE_HARVEST 0x01 -#define I2C_MECHBOARD_MODE_PREPARE_PICKUP 0x02 -#define I2C_MECHBOARD_MODE_PICKUP 0x03 -#define I2C_MECHBOARD_MODE_PREPARE_BUILD 0x04 -#define I2C_MECHBOARD_MODE_AUTOBUILD 0x05 -#define I2C_MECHBOARD_MODE_WAIT 0x06 -#define I2C_MECHBOARD_MODE_INIT 0x07 -#define I2C_MECHBOARD_MODE_PREPARE_GET_LINTEL 0x08 -#define I2C_MECHBOARD_MODE_GET_LINTEL 0x09 -#define I2C_MECHBOARD_MODE_PUT_LINTEL 0x0A -#define I2C_MECHBOARD_MODE_PREPARE_EJECT 0x0B -#define I2C_MECHBOARD_MODE_EJECT 0x0C -#define I2C_MECHBOARD_MODE_CLEAR 0x0D -#define I2C_MECHBOARD_MODE_LAZY_HARVEST 0x0E -#define I2C_MECHBOARD_MODE_LOADED 0x0F -#define I2C_MECHBOARD_MODE_PREPARE_INSIDE 0x10 -#define I2C_MECHBOARD_MODE_STORE 0x11 -#define I2C_MECHBOARD_MODE_LAZY_PICKUP 0x12 -#define I2C_MECHBOARD_MODE_MANIVELLE 0x13 -#define I2C_MECHBOARD_MODE_PUSH_TEMPLE 0x14 -#define I2C_MECHBOARD_MODE_PUSH_TEMPLE_DISC 0x15 -#define I2C_MECHBOARD_MODE_EXIT 0xFF - uint8_t mode; - union { - struct { - - } manual; - - struct { - uint8_t side; - uint8_t next_mode; - } prep_pickup; - - struct { - uint8_t level_l; - uint8_t level_r; - } prep_build; - - struct { - uint8_t side; - } push_temple_disc; - - struct { - uint8_t level_left; - uint8_t level_right; - uint8_t count_left; - uint8_t count_right; - uint8_t distance_left; - uint8_t distance_right; - uint8_t do_lintel; - } autobuild; - - struct { - uint8_t level_l; - uint8_t level_r; - } prep_inside; - }; -}; - -/****/ - -/* only valid in manual mode */ -#define I2C_CMD_MECHBOARD_ARM_GOTO 0x03 - -struct i2c_cmd_mechboard_arm_goto { - struct i2c_cmd_hdr hdr; -#define I2C_MECHBOARD_ARM_LEFT 0 -#define I2C_MECHBOARD_ARM_RIGHT 1 -#define I2C_MECHBOARD_ARM_BOTH 2 - uint8_t which; - - uint8_t height; /* in cm */ - uint8_t distance; /* in cm */ -}; - -/****/ - -#define I2C_CMD_SENSORBOARD_SET_BEACON 0x04 - -struct i2c_cmd_sensorboard_start_beacon { - struct i2c_cmd_hdr hdr; - uint8_t enable; -}; - - -/****/ - -#define I2C_CMD_SENSORBOARD_SET_SCANNER 0x05 - -struct i2c_cmd_sensorboard_scanner { - struct i2c_cmd_hdr hdr; - -#define I2C_SENSORBOARD_SCANNER_STOP 0x00 -#define I2C_SENSORBOARD_SCANNER_PREPARE 0x01 -#define I2C_SENSORBOARD_SCANNER_START 0x02 - uint8_t mode; -}; - -/*****/ - -#define I2C_CMD_SENSORBOARD_CALIB_SCANNER 0x06 -struct i2c_cmd_sensorboard_calib_scanner { - struct i2c_cmd_hdr hdr; -}; - -/*****/ - -#define I2C_CMD_SENSORBOARD_SCANNER_ALGO 0x07 -struct i2c_cmd_sensorboard_scanner_algo { - struct i2c_cmd_hdr hdr; - -#define I2C_SCANNER_ALGO_COLUMN_DROPZONE 1 -#define I2C_SCANNER_ALGO_CHECK_TEMPLE 2 -#define I2C_SCANNER_ALGO_TEMPLE_DROPZONE 3 - uint8_t algo; - - union { - struct { -#define I2C_SCANNER_ZONE_0 0 -#define I2C_SCANNER_ZONE_1 1 -#define I2C_SCANNER_ZONE_DISC 2 - uint8_t working_zone; - int16_t center_x; - int16_t center_y; - } drop_zone; - - struct { - uint8_t level; - int16_t temple_x; - int16_t temple_y; - } check_temple; - }; -}; - -/****/ -/* requests and their answers */ -/****/ - - -#define I2C_REQ_MECHBOARD_STATUS 0x80 - -struct i2c_req_mechboard_status { - struct i2c_cmd_hdr hdr; - - int16_t pump_left1_current; - int16_t pump_left2_current; -}; - -#define I2C_ANS_MECHBOARD_STATUS 0x81 - -struct i2c_ans_mechboard_status { - struct i2c_cmd_hdr hdr; - /* mode type are defined above: I2C_MECHBOARD_MODE_xxx */ - uint8_t mode; - -#define I2C_MECHBOARD_STATUS_F_READY 0x00 -#define I2C_MECHBOARD_STATUS_F_BUSY 0x01 -#define I2C_MECHBOARD_STATUS_F_EXCPT 0x02 - uint8_t status; - - uint8_t lintel_count; - - /* flag is there if column was taken by this pump. Note that - * we should also check ADC (current) to see if the column is - * still there. */ -#define I2C_MECHBOARD_COLUMN_L1 0x01 -#define I2C_MECHBOARD_COLUMN_L2 0x02 -#define I2C_MECHBOARD_COLUMN_R1 0x04 -#define I2C_MECHBOARD_COLUMN_R2 0x08 - uint8_t column_flags; - - int16_t pump_left1; - int16_t pump_right1; - int16_t pump_left2; - int16_t pump_right2; - -#define I2C_MECHBOARD_CURRENT_COLUMN 85 - int16_t pump_right1_current; - int16_t pump_right2_current; - - uint16_t servo_lintel_left; - uint16_t servo_lintel_right; -}; - -#define I2C_REQ_SENSORBOARD_STATUS 0x82 - -struct i2c_req_sensorboard_status { - struct i2c_cmd_hdr hdr; - - /* position sent by mainboard */ - int16_t x; - int16_t y; - int16_t a; - - /* PWM for pickup */ - uint8_t enable_pickup_wheels; -}; - -#define I2C_ANS_SENSORBOARD_STATUS 0x83 - -struct i2c_ans_sensorboard_status { - struct i2c_cmd_hdr hdr; - - uint8_t status; -#define I2C_OPPONENT_NOT_THERE -1000 - int16_t opponent_x; - int16_t opponent_y; - int16_t opponent_a; - int16_t opponent_d; - -#define I2C_SCAN_DONE 1 -#define I2C_SCAN_MAX_COLUMN 2 - uint8_t scan_status; - -#define I2C_COLUMN_NO_DROPZONE -1 - int8_t dropzone_h; - int16_t dropzone_x; - int16_t dropzone_y; -}; - -#endif /* _I2C_PROTOCOL_H_ */ diff --git a/projects/microb2010/mainboard/.config.~1.5.~ b/projects/microb2010/mainboard/.config.~1.5.~ deleted file mode 100644 index 860d979..0000000 --- a/projects/microb2010/mainboard/.config.~1.5.~ +++ /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 is not set -# 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=y -# 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=y -# CONFIG_FDEVOPEN_COMPAT is not set -# CONFIG_NO_PRINTF is not set -# CONFIG_MINIMAL_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 - -# -# Base modules -# -CONFIG_MODULE_CIRBUF=y -# CONFIG_MODULE_CIRBUF_LARGE is not set -CONFIG_MODULE_FIXED_POINT=y -CONFIG_MODULE_VECT2=y -CONFIG_MODULE_GEOMETRY=y -CONFIG_MODULE_SCHEDULER=y -# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set -# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set -# CONFIG_MODULE_SCHEDULER_TIMER0 is not set -CONFIG_MODULE_SCHEDULER_MANUAL=y -CONFIG_MODULE_TIME=y -# 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=y -CONFIG_MODULE_SPI_CREATE_CONFIG=y -CONFIG_MODULE_I2C=y -CONFIG_MODULE_I2C_MASTER=y -# CONFIG_MODULE_I2C_MULTIMASTER is not set -CONFIG_MODULE_I2C_CREATE_CONFIG=y -# 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=y -# 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=y -CONFIG_MODULE_ADC=y -CONFIG_MODULE_ADC_CREATE_CONFIG=y - -# -# IHM modules -# -# CONFIG_MODULE_MENU is not set -CONFIG_MODULE_VT100=y -CONFIG_MODULE_RDLINE=y -CONFIG_MODULE_RDLINE_CREATE_CONFIG=y -CONFIG_MODULE_RDLINE_KILL_BUF=y -CONFIG_MODULE_RDLINE_HISTORY=y -CONFIG_MODULE_PARSE=y -# 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=y -# 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=y -CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG=y - -# -# Robot specific modules -# -CONFIG_MODULE_ROBOT_SYSTEM=y -# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set -CONFIG_MODULE_POSITION_MANAGER=y -CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE=y -CONFIG_MODULE_TRAJECTORY_MANAGER=y -CONFIG_MODULE_BLOCKING_DETECTION_MANAGER=y -CONFIG_MODULE_OBSTACLE_AVOIDANCE=y -CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG=y - -# -# Control system modules -# -CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y -CONFIG_MODULE_PID=y -# CONFIG_MODULE_PID_CREATE_CONFIG is not set -# CONFIG_MODULE_RAMP is not set -CONFIG_MODULE_QUADRAMP=y -# 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=y -CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG=y -CONFIG_MODULE_ERROR=y -CONFIG_MODULE_ERROR_CREATE_CONFIG=y - -# -# 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/mainboard/Makefile.~1.6.~ b/projects/microb2010/mainboard/Makefile.~1.6.~ deleted file mode 100755 index 1a53746..0000000 --- a/projects/microb2010/mainboard/Makefile.~1.6.~ +++ /dev/null @@ -1,29 +0,0 @@ -TARGET = main - -# repertoire des modules -AVERSIVE_DIR = ../../.. - -SRC = $(TARGET).c cmdline.c commands_ax12.c commands_gen.c -SRC += commands_cs.c commands_mainboard.c commands_traj.c commands.c -SRC += i2c_protocol.c sensor.c actuator.c cs.c ax12_user.c -SRC += strat_utils.c strat_base.c strat_avoid.c strat.c -SRC += strat_static_columns.c strat_lintel.c -SRC += strat_column_disp.c strat_building.c strat_scan.c - -ASRC = - -CFLAGS += -Wall -Werror -#CFLAGS += -DHOMOLOGATION -LDFLAGS = -T ../common/avr6.x - -######################################## - --include .aversive_conf -include $(AVERSIVE_DIR)/mk/aversive_project.mk - -AVRDUDE_DELAY=50 - -program_noerase: $(TARGET).$(FORMAT_EXTENSION) $(TARGET).eep - echo $(AVRDUDE) -D -V $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) ;\ - $(AVRDUDE) -D -V $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) ;\ - -- 2.39.5