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battletank
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sorta working, control needs to be improved

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master
mitchellhansen 4 years ago
parent f86e4d7c52
commit 90b9831079
62 changed files with 3218 additions and 507 deletions
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8
CMakeLists.txt
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@ -3,8 +3,8 @@ project(battletank)
cmake_minimum_required(VERSION 2.6)
set(REMOTE_PORT "/dev/ttyUSB0")
set(DOZER_PORT "/dev/ttyUSB1")
set(REMOTE_PORT "/dev/ttyUSB1")
set(DOZER_PORT "/dev/ttyUSB0")
set(MCU "atmega328p" )
set(CPU_SPEED "16000000" )
@ -49,8 +49,8 @@ set(CMAKE_LINKER avr-ld)
# Compiler flags
add_definitions(-DBAUD=9600UL -DARDUINO -DROLE=1)
add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED})
add_definitions(-c -g -Os -Wall)
add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED}) #-DARDUINO_AVR_NANO)
add_definitions(-c -g -Os -Wall --std=c++11)
add_definitions(-fpack-struct -fno-exceptions -ffunction-sections -fdata-sections -funsigned-char -funsigned-bitfields -fshort-enums)
# Linker flags

24
arduino/hardware/arduino/avr/boards.txt
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@ -46,7 +46,7 @@ yun.build.extra_flags={build.usb_flags}
##############################################################
uno.name=Arduino/Genuino Uno
uno.name=Arduino Uno
uno.vid.0=0x2341
uno.pid.0=0x0043
@ -185,7 +185,7 @@ nano.menu.cpu.atmega168.build.mcu=atmega168
##############################################################
mega.name=Arduino/Genuino Mega or Mega 2560
mega.name=Arduino Mega or Mega 2560
mega.vid.0=0x2341
mega.pid.0=0x0010
@ -214,7 +214,7 @@ mega.build.variant=mega
# default board may be overridden by the cpu menu
mega.build.board=AVR_MEGA2560
## Arduino/Genuino Mega w/ ATmega2560
## Arduino Mega w/ ATmega2560
## -------------------------
mega.menu.cpu.atmega2560=ATmega2560 (Mega 2560)
@ -353,7 +353,7 @@ leonardoeth.build.extra_flags={build.usb_flags}
##############################################################
micro.name=Arduino/Genuino Micro
micro.name=Arduino Micro
micro.vid.0=0x2341
micro.pid.0=0x0037
@ -363,24 +363,10 @@ micro.vid.2=0x2A03
micro.pid.2=0x0037
micro.vid.3=0x2A03
micro.pid.3=0x8037
micro.vid.4=0x2341
micro.pid.4=0x0237
# If the board is a 2341:0237 use 2341:8237 for build and set
# other parameters as well
micro.vid.4.build.vid=0x2341
micro.vid.4.build.pid=0x8237
micro.vid.4.build.usb_product="Genuino Micro"
micro.vid.4.bootloader.file=caterina/Caterina-Genuino-Micro.hex
micro.vid.5=0x2341
micro.pid.5=0x8237
# If the board is a 2341:8237 use 2341:8237 for build and set
# other paramters as well
micro.vid.5.build.vid=0x2341
micro.vid.5.build.pid=0x8237
micro.vid.5.build.usb_product="Genuino Micro"
micro.vid.5.bootloader.file=caterina/Caterina-Genuino-Micro.hex
micro.upload.tool=avrdude
micro.upload.protocol=avr109
@ -946,7 +932,7 @@ yunmini.bootloader.tool=avrdude
yunmini.bootloader.low_fuses=0xff
yunmini.bootloader.high_fuses=0xd8
yunmini.bootloader.extended_fuses=0xfb
yunmini.bootloader.file=caterina/Caterina-Yunmini.hex
yunmini.bootloader.file=caterina/Caterina-YunMini.hex
yunmini.bootloader.unlock_bits=0x3F
yunmini.bootloader.lock_bits=0x2F

257
arduino/hardware/arduino/avr/bootloaders/caterina/Caterina-Genuino-Micro.hex
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@ -1,257 +0,0 @@
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19
arduino/hardware/arduino/avr/bootloaders/caterina/Caterina-Genuino-Micro.txt
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@ -1,19 +0,0 @@
GENUINO MICRO PRODUCTION FIRMWARES
==================================
Bootloader:
-----------
Name: Caterina-Genuino-Micro.hex
Notes:
Builds against LUFA version 111009
make version 3.81
avrdude version 5.11
All AVR tools except avrdude were installed by CrossPack 20100115:
avr-gcc version 4.3.3 (GCC)
Thread model: single
Configured with: ../configure —prefix=/usr/local/CrossPack-AVR-20100115 —disable-dependency-tracking —disable-nls —disable-werror —target=avr —enable-languages=c,c++ —disable-nls —disable-libssp —with-dwarf2
avr-libc version 1.6.7
binutils version 2.19

19
arduino/hardware/arduino/avr/cores/arduino/Arduino.h
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@ -111,7 +111,8 @@ void yield(void);
#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
#define bitSet(value, bit) ((value) |= (1UL << (bit)))
#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
#define bitToggle(value, bit) ((value) ^= (1UL << (bit)))
#define bitWrite(value, bit, bitvalue) ((bitvalue) ? bitSet(value, bit) : bitClear(value, bit))
// avr-libc defines _NOP() since 1.6.2
#ifndef _NOP
@ -130,16 +131,16 @@ void initVariant(void);
int atexit(void (*func)()) __attribute__((weak));
void pinMode(uint8_t, uint8_t);
void digitalWrite(uint8_t, uint8_t);
int digitalRead(uint8_t);
int analogRead(uint8_t);
void pinMode(uint8_t pin, uint8_t mode);
void digitalWrite(uint8_t pin, uint8_t val);
int digitalRead(uint8_t pin);
int analogRead(uint8_t pin);
void analogReference(uint8_t mode);
void analogWrite(uint8_t, int);
void analogWrite(uint8_t pin, int val);
unsigned long millis(void);
unsigned long micros(void);
void delay(unsigned long);
void delay(unsigned long ms);
void delayMicroseconds(unsigned int us);
unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout);
@ -147,8 +148,8 @@ unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout);
void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
void attachInterrupt(uint8_t, void (*)(void), int mode);
void detachInterrupt(uint8_t);
void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode);
void detachInterrupt(uint8_t interruptNum);
void setup(void);
void loop(void);

2
arduino/hardware/arduino/avr/cores/arduino/CDC.cpp
Unescape View File

@ -41,7 +41,7 @@ static u8 wdtcsr_save;
extern const CDCDescriptor _cdcInterface PROGMEM;
const CDCDescriptor _cdcInterface =
{
D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1),
D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),
// CDC communication interface
D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),

2
arduino/hardware/arduino/avr/cores/arduino/HardwareSerial0.cpp
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@ -26,7 +26,7 @@
#include "HardwareSerial.h"
#include "HardwareSerial_private.h"
// Each HardwareSerial is defined in its own file, sine the linker pulls
// Each HardwareSerial is defined in its own file, since the linker pulls
// in the entire file when any element inside is used. --gc-sections can
// additionally cause unused symbols to be dropped, but ISRs have the
// "used" attribute so are never dropped and they keep the

2
arduino/hardware/arduino/avr/cores/arduino/HardwareSerial1.cpp
Unescape View File

@ -26,7 +26,7 @@
#include "HardwareSerial.h"
#include "HardwareSerial_private.h"
// Each HardwareSerial is defined in its own file, sine the linker pulls
// Each HardwareSerial is defined in its own file, since the linker pulls
// in the entire file when any element inside is used. --gc-sections can
// additionally cause unused symbols to be dropped, but ISRs have the
// "used" attribute so are never dropped and they keep the

2
arduino/hardware/arduino/avr/cores/arduino/HardwareSerial2.cpp
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@ -26,7 +26,7 @@
#include "HardwareSerial.h"
#include "HardwareSerial_private.h"
// Each HardwareSerial is defined in its own file, sine the linker pulls
// Each HardwareSerial is defined in its own file, since the linker pulls
// in the entire file when any element inside is used. --gc-sections can
// additionally cause unused symbols to be dropped, but ISRs have the
// "used" attribute so are never dropped and they keep the

2
arduino/hardware/arduino/avr/cores/arduino/HardwareSerial3.cpp
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@ -26,7 +26,7 @@
#include "HardwareSerial.h"
#include "HardwareSerial_private.h"
// Each HardwareSerial is defined in its own file, sine the linker pulls
// Each HardwareSerial is defined in its own file, since the linker pulls
// in the entire file when any element inside is used. --gc-sections can
// additionally cause unused symbols to be dropped, but ISRs have the
// "used" attribute so are never dropped and they keep the

1
arduino/hardware/arduino/avr/cores/arduino/Stream.cpp
Unescape View File

@ -218,7 +218,6 @@ size_t Stream::readBytes(char *buffer, size_t length)
size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length)
{
if (length < 1) return 0;
size_t index = 0;
while (index < length) {
int c = timedRead();

30
arduino/hardware/arduino/avr/cores/arduino/Tone.cpp
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@ -180,12 +180,12 @@ static int8_t toneBegin(uint8_t _pin)
#if defined(TCCR2A) && defined(TCCR2B)
case 2:
// 8 bit timer
// TCCR2A = 0;
// TCCR2B = 0;
// bitWrite(TCCR2A, WGM21, 1);
// bitWrite(TCCR2B, CS20, 1);
// timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
// timer2_pin_mask = digitalPinToBitMask(_pin);
TCCR2A = 0;
TCCR2B = 0;
bitWrite(TCCR2A, WGM21, 1);
bitWrite(TCCR2B, CS20, 1);
timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
timer2_pin_mask = digitalPinToBitMask(_pin);
break;
#endif
@ -304,7 +304,7 @@ void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
#endif
#if defined(TCCR2B)
{
// TCCR2B = (TCCR2B & 0b11111000) | prescalarbits;
TCCR2B = (TCCR2B & 0b11111000) | prescalarbits;
}
#else
{
@ -385,9 +385,9 @@ void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A)
case 2:
// OCR2A = ocr;
// timer2_toggle_count = toggle_count;
// bitWrite(TIMSK2, OCIE2A, 1);
OCR2A = ocr;
timer2_toggle_count = toggle_count;
bitWrite(TIMSK2, OCIE2A, 1);
break;
#endif
@ -443,16 +443,16 @@ void disableTimer(uint8_t _timer)
case 2:
#if defined(TIMSK2) && defined(OCIE2A)
// bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
#endif
#if defined(TCCR2A) && defined(WGM20)
// TCCR2A = (1 << WGM20);
TCCR2A = (1 << WGM20);
#endif
#if defined(TCCR2B) && defined(CS22)
// TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
#endif
#if defined(OCR2A)
// OCR2A = 0;
OCR2A = 0;
#endif
break;
@ -534,7 +534,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#ifdef NOPE //USE_TIMER2
#ifdef USE_TIMER2
ISR(TIMER2_COMPA_vect)
{

2
arduino/hardware/arduino/avr/cores/arduino/USBAPI.h
Unescape View File

@ -65,6 +65,8 @@ public:
void detach(); // Serial port goes down too...
void poll();
bool wakeupHost(); // returns false, when wakeup cannot be processed
bool isSuspended();
};
extern USBDevice_ USBDevice;

9
arduino/hardware/arduino/avr/cores/arduino/USBCore.cpp
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@ -496,14 +496,13 @@ bool SendConfiguration(int maxlen)
static
bool SendDescriptor(USBSetup& setup)
{
int ret;
u8 t = setup.wValueH;
if (USB_CONFIGURATION_DESCRIPTOR_TYPE == t)
return SendConfiguration(setup.wLength);
InitControl(setup.wLength);
#ifdef PLUGGABLE_USB_ENABLED
ret = PluggableUSB().getDescriptor(setup);
int ret = PluggableUSB().getDescriptor(setup);
if (ret != 0) {
return (ret > 0 ? true : false);
}
@ -855,4 +854,10 @@ bool USBDevice_::wakeupHost()
return false;
}
bool USBDevice_::isSuspended()
{
return (_usbSuspendState & (1 << SUSPI));
}
#endif /* if defined(USBCON) */

5
arduino/hardware/arduino/avr/cores/arduino/USBCore.h
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@ -97,6 +97,9 @@
// bMaxPower in Configuration Descriptor
#define USB_CONFIG_POWER_MA(mA) ((mA)/2)
#ifndef USB_CONFIG_POWER
#define USB_CONFIG_POWER (500)
#endif
// bEndpointAddress in Endpoint Descriptor
#define USB_ENDPOINT_DIRECTION_MASK 0x80
@ -267,7 +270,7 @@ typedef struct
{ 18, 1, USB_VERSION, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs }
#define D_CONFIG(_totalLength,_interfaces) \
{ 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED | USB_CONFIG_REMOTE_WAKEUP, USB_CONFIG_POWER_MA(500) }
{ 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED | USB_CONFIG_REMOTE_WAKEUP, USB_CONFIG_POWER_MA(USB_CONFIG_POWER) }
#define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \
{ 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 }

83
arduino/hardware/arduino/avr/cores/arduino/WInterrupts.c
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@ -65,7 +65,6 @@ static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS] = {
nothing,
#endif
};
// volatile static voidFuncPtr twiIntFunc;
void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
@ -103,6 +102,39 @@ void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60);
EIMSK |= (1<<INT6);
break;
#elif defined(__AVR_AT90USB82__) || defined(__AVR_AT90USB162__) || defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__) || defined(__AVR_ATmega8U2__)
case 0:
EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
EIMSK |= (1 << INT0);
break;
case 1:
EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
EIMSK |= (1 << INT1);
break;
case 2:
EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
EIMSK |= (1 << INT2);
break;
case 3:
EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30);
EIMSK |= (1 << INT3);
break;
case 4:
EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40);
EIMSK |= (1 << INT4);
break;
case 5:
EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50);
EIMSK |= (1 << INT5);
break;
case 6:
EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
EIMSK |= (1 << INT6);
break;
case 7:
EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70);
EIMSK |= (1 << INT7);
break;
#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
case 2:
EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
@ -206,6 +238,31 @@ void detachInterrupt(uint8_t interruptNum) {
case 4:
EIMSK &= ~(1<<INT6);
break;
#elif defined(__AVR_AT90USB82__) || defined(__AVR_AT90USB162__) || defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__) || defined(__AVR_ATmega8U2__)
case 0:
EIMSK &= ~(1 << INT0);
break;
case 1:
EIMSK &= ~(1 << INT1);
break;
case 2:
EIMSK &= ~(1 << INT2);
break;
case 3:
EIMSK &= ~(1 << INT3);
break;
case 4:
EIMSK &= ~(1 << INT4);
break;
case 5:
EIMSK &= ~(1 << INT5);
break;
case 6:
EIMSK &= ~(1 << INT6);
break;
case 7:
EIMSK &= ~(1 << INT7);
break;
#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
case 2:
EIMSK &= ~(1 << INT0);
@ -274,11 +331,6 @@ void detachInterrupt(uint8_t interruptNum) {
}
}
/*
void attachInterruptTwi(void (*userFunc)(void) ) {
twiIntFunc = userFunc;
}
*/
#define IMPLEMENT_ISR(vect, interrupt) \
ISR(vect) { \
@ -293,6 +345,17 @@ IMPLEMENT_ISR(INT2_vect, EXTERNAL_INT_2)
IMPLEMENT_ISR(INT3_vect, EXTERNAL_INT_3)
IMPLEMENT_ISR(INT6_vect, EXTERNAL_INT_4)
#elif defined(__AVR_AT90USB82__) || defined(__AVR_AT90USB162__) || defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__) || defined(__AVR_ATmega8U2__)
IMPLEMENT_ISR(INT0_vect, EXTERNAL_INT_0)
IMPLEMENT_ISR(INT1_vect, EXTERNAL_INT_1)
IMPLEMENT_ISR(INT2_vect, EXTERNAL_INT_2)
IMPLEMENT_ISR(INT3_vect, EXTERNAL_INT_3)
IMPLEMENT_ISR(INT4_vect, EXTERNAL_INT_4)
IMPLEMENT_ISR(INT5_vect, EXTERNAL_INT_5)
IMPLEMENT_ISR(INT6_vect, EXTERNAL_INT_6)
IMPLEMENT_ISR(INT7_vect, EXTERNAL_INT_7)
#elif defined(EICRA) && defined(EICRB)
IMPLEMENT_ISR(INT0_vect, EXTERNAL_INT_2)
@ -314,11 +377,3 @@ IMPLEMENT_ISR(INT2_vect, EXTERNAL_INT_2)
#endif
#endif
/*
ISR(TWI_vect) {
if(twiIntFunc)
twiIntFunc();
}
*/

2
arduino/hardware/arduino/avr/cores/arduino/WString.cpp
Unescape View File

@ -121,7 +121,7 @@ String::String(double value, unsigned char decimalPlaces)
String::~String()
{
free(buffer);
if (buffer) free(buffer);
}
/*********************************************/

5
arduino/hardware/arduino/avr/cores/arduino/new
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@ -0,0 +1,5 @@
/*
this header is for compatibility with standard c++ header names
so that #include<new> works as expected
*/
#include "new.h"

5
arduino/hardware/arduino/avr/cores/arduino/new.cpp
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@ -26,6 +26,11 @@ void *operator new[](size_t size) {
return malloc(size);
}
void * operator new(size_t size, void * ptr) noexcept {
(void)size;
return ptr;
}
void operator delete(void * ptr) {
free(ptr);
}

1
arduino/hardware/arduino/avr/cores/arduino/new.h
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@ -23,6 +23,7 @@
void * operator new(size_t size);
void * operator new[](size_t size);
void * operator new(size_t size, void * ptr) noexcept;
void operator delete(void * ptr);
void operator delete[](void * ptr);

2
arduino/hardware/arduino/avr/cores/arduino/wiring_analog.c
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@ -164,7 +164,7 @@ void analogWrite(uint8_t pin, int val)
#if defined(TCCR1A) && defined(COM1C1)
case TIMER1C:
// connect pwm to pin on timer 1, channel B
// connect pwm to pin on timer 1, channel C
sbi(TCCR1A, COM1C1);
OCR1C = val; // set pwm duty
break;

24
arduino/hardware/arduino/avr/cores/arduino/wiring_pulse.c
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@ -91,27 +91,3 @@ unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout)
}
return micros() - start;
}
#include <Arduino.h>
#include <stdlib.h>
unsigned long countPulseASM(volatile uint8_t *port, uint8_t bit, uint8_t stateMask, unsigned long maxloops)
{
unsigned long width = 0;
// wait for any previous pulse to end
while ((*port & bit) == stateMask)
if (--maxloops == 0)
return 0;
// wait for the pulse to start
while ((*port & bit) != stateMask)
if (--maxloops == 0)
return 0;
// wait for the pulse to stop
while ((*port & bit) == stateMask) {
if (++width == maxloops)
return 0;
}
return width;
}

11
arduino/hardware/arduino/avr/cores/arduino/wiring_shift.c
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@ -42,10 +42,13 @@ void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val)
uint8_t i;
for (i = 0; i < 8; i++) {
if (bitOrder == LSBFIRST)
digitalWrite(dataPin, !!(val & (1 << i)));
else
digitalWrite(dataPin, !!(val & (1 << (7 - i))));
if (bitOrder == LSBFIRST) {
digitalWrite(dataPin, val & 1);
val >>= 1;
} else {
digitalWrite(dataPin, (val & 128) != 0);
val <<= 1;
}
digitalWrite(clockPin, HIGH);
digitalWrite(clockPin, LOW);

51
arduino/hardware/arduino/avr/extras/pack.hourlybuild.bash
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@ -0,0 +1,51 @@
#!/bin/bash -ex
# pack.*.bash - Bash script to help packaging avr core releases.
# Copyright (c) 2015 Arduino LLC. All right reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
#
# This library 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
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
BUILD_NUMBER=$1
CURR_TIME=`date "+%Y-%m-%d %H:%M"`
CURR_TIME_SED=`date "+%Y\\-%m\\-%d %H:%M"`
VERSION=9.9.9-Hourly
PWD=`pwd`
FOLDERNAME=`basename $PWD`
THIS_SCRIPT_NAME=`basename $0`
FILENAME=package_avr-hourly-b${BUILD_NUMBER}.tar.bz2
rm -f $FILENAME
# Change name in platform.txt
sed -i "s/name=.*/name=SAMD Hourly Build ${BUILD_NUMBER} (${CURR_TIME})/" platform.txt
cd ..
tar --transform "s|$FOLDERNAME|avr-hourly_b${BUILD_NUMBER}|g" --exclude=extras/** --exclude=.git* --exclude=.idea -cjf $FILENAME $FOLDERNAME
cd -
mv ../$FILENAME .
CHKSUM=`sha256sum $FILENAME | awk '{ print $1 }'`
SIZE=`wc -c $FILENAME | awk '{ print $1 }'`
cat extras/package_index.json.Hourly.template |
sed "s/%%BUILD_NUMBER%%/${BUILD_NUMBER}/" |
sed "s/%%CURR_TIME%%/${CURR_TIME_SED}/" |
sed "s/%%VERSION%%/${VERSION}/" |
sed "s/%%FILENAME%%/${FILENAME}/" |
sed "s/%%CHECKSUM%%/${CHKSUM}/" |
sed "s/%%SIZE%%/${SIZE}/" > package_avr-hourly-build_index.json

50
arduino/hardware/arduino/avr/extras/pack.pullrequest.bash
Unescape View File

@ -0,0 +1,50 @@
#!/bin/bash -ex
# pack.*.bash - Bash script to help packaging avr core releases.
# Copyright (c) 2015 Arduino LLC. All right reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
#
# This library 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
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
PR_NUMBER=$1
BUILD_NUMBER=$2
VERSION=`grep version= platform.txt | sed 's/version=//g'`
PWD=`pwd`
FOLDERNAME=`basename $PWD`
THIS_SCRIPT_NAME=`basename $0`
FILENAME=package_avr-b${BUILD_NUMBER}.tar.bz2
rm -f $FILENAME
# Change name in platform.txt
sed -i "s/name=.*/name=SAMD Pull request #${PR_NUMBER} (Build ${BUILD_NUMBER})/" platform.txt
cd ..
tar --transform "s|$FOLDERNAME|avr-PR${PR_NUMBER}_b${BUILD_NUMBER}|g" --exclude=extras/** --exclude=.git* --exclude=.idea -cjf $FILENAME $FOLDERNAME
cd -
mv ../$FILENAME .
CHKSUM=`sha256sum $FILENAME | awk '{ print $1 }'`
SIZE=`wc -c $FILENAME | awk '{ print $1 }'`
cat extras/package_index.json.PR.template |
sed s/%%PR_NUMBER%%/${PR_NUMBER}/ |
sed s/%%BUILD_NUMBER%%/${BUILD_NUMBER}/ |
sed s/%%VERSION%%/${VERSION}-build-${BUILD_NUMBER}/ |
sed s/%%FILENAME%%/${FILENAME}/ |
sed s/%%CHECKSUM%%/${CHKSUM}/ |
sed s/%%SIZE%%/${SIZE}/ > package_avr-b${BUILD_NUMBER}_index.json

33
arduino/hardware/arduino/avr/extras/pack.release.bash
Unescape View File

@ -0,0 +1,33 @@
#!/bin/bash -ex
# pack.*.bash - Bash script to help packaging avr core releases.
# Copyright (c) 2015 Arduino LLC. All right reserved.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
#
# This library 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
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
VERSION=`grep version= platform.txt | sed 's/version=//g'`
PWD=`pwd`
FOLDERNAME=`basename $PWD`
THIS_SCRIPT_NAME=`basename $0`
rm -f avr-$VERSION.tar.bz2
cd ..
tar --transform "s|$FOLDERNAME|$FOLDERNAME-$VERSION|g" --exclude=extras/** --exclude=.git* --exclude=.idea -cjf avr-$VERSION.tar.bz2 $FOLDERNAME
cd -
mv ../avr-$VERSION.tar.bz2 .

72
arduino/hardware/arduino/avr/extras/package_index.json.Hourly.template
Unescape View File

@ -0,0 +1,72 @@
{
"packages": [
{
"name": "arduino-beta",
"maintainer": "Arduino Betatesting",
"websiteURL": "http://www.arduino.cc/",
"email": "packages@arduino.cc",
"help": {
"online": "http://www.arduino.cc/en/Reference/HomePage"
},
"platforms": [
{
"name": "Arduino AVR core - Hourly build",
"architecture": "avr",
"version": "%%VERSION%%",
"category": "Arduino",
"url": "http://downloads.arduino.cc/Hourly/avr/%%FILENAME%%",
"archiveFileName": "%%FILENAME%%",
"checksum": "SHA-256:%%CHECKSUM%%",
"size": "%%SIZE%%",
"boards": [
{"name": "Arduino Yún"},
{"name": "Arduino Uno"},
{"name": "Arduino Uno WiFi"},
{"name": "Arduino Diecimila"},
{"name": "Arduino Nano"},
{"name": "Arduino Mega"},
{"name": "Arduino MegaADK"},
{"name": "Arduino Leonardo"},
{"name": "Arduino Leonardo Ethernet"},
{"name": "Arduino Micro"},
{"name": "Arduino Esplora"},
{"name": "Arduino Mini"},
{"name": "Arduino Ethernet"},
{"name": "Arduino Fio"},
{"name": "Arduino BT"},
{"name": "Arduino LilyPadUSB"},
{"name": "Arduino Lilypad"},
{"name": "Arduino Pro"},
{"name": "Arduino ATMegaNG"},
{"name": "Arduino Robot Control"},
{"name": "Arduino Robot Motor"},
{"name": "Arduino Gemma"},
{"name": "Adafruit Circuit Playground"},
{"name": "Arduino Yún Mini"},
{"name": "Arduino Industrial 101"},
{"name": "Linino One"}
],
"toolsDependencies": [
{
"packager": "arduino",
"name": "avr-gcc",
"version": "4.9.2-atmel3.5.4-arduino2"
},
{
"packager": "arduino",
"name": "avrdude",
"version": "6.3.0-arduino9"
},
{
"packager": "arduino",
"name": "arduinoOTA",
"version": "1.1.1"
}
]
}
],
"tools": [
]
}
]
}

72
arduino/hardware/arduino/avr/extras/package_index.json.PR.template
Unescape View File

@ -0,0 +1,72 @@
{
"packages": [
{
"name": "arduino-beta",
"maintainer": "Arduino Betatesting",
"websiteURL": "http://www.arduino.cc/",
"email": "packages@arduino.cc",
"help": {
"online": "http://www.arduino.cc/en/Reference/HomePage"
},
"platforms": [
{
"name": "Arduino AVR core - Pull request #%%PR_NUMBER%% (build %%BUILD_NUMBER%%)",
"architecture": "avr",
"version": "%%VERSION%%",
"category": "Arduino",
"url": "http://downloads.arduino.cc/PR/a/%%FILENAME%%",
"archiveFileName": "%%FILENAME%%",
"checksum": "SHA-256:%%CHECKSUM%%",
"size": "%%SIZE%%",
"boards": [
{"name": "Arduino Yún"},
{"name": "Arduino Uno"},
{"name": "Arduino Uno WiFi"},
{"name": "Arduino Diecimila"},
{"name": "Arduino Nano"},
{"name": "Arduino Mega"},
{"name": "Arduino MegaADK"},
{"name": "Arduino Leonardo"},
{"name": "Arduino Leonardo Ethernet"},
{"name": "Arduino Micro"},
{"name": "Arduino Esplora"},
{"name": "Arduino Mini"},
{"name": "Arduino Ethernet"},
{"name": "Arduino Fio"},
{"name": "Arduino BT"},
{"name": "Arduino LilyPadUSB"},
{"name": "Arduino Lilypad"},
{"name": "Arduino Pro"},
{"name": "Arduino ATMegaNG"},
{"name": "Arduino Robot Control"},
{"name": "Arduino Robot Motor"},
{"name": "Arduino Gemma"},
{"name": "Adafruit Circuit Playground"},
{"name": "Arduino Yún Mini"},
{"name": "Arduino Industrial 101"},
{"name": "Linino One"}
],
"toolsDependencies": [
{
"packager": "arduino",
"name": "avr-gcc",
"version": "4.9.2-atmel3.5.4-arduino2"
},
{
"packager": "arduino",
"name": "avrdude",
"version": "6.3.0-arduino9"
},
{
"packager": "arduino",
"name": "arduinoOTA",
"version": "1.1.1"
}
]
}
],
"tools": [
]
}
]
}

4
arduino/hardware/arduino/avr/libraries/SoftwareSerial/src/SoftwareSerial.cpp
Unescape View File

@ -316,7 +316,7 @@ void SoftwareSerial::begin(long speed)
_tx_delay = subtract_cap(bit_delay, 15 / 4);
// Only setup rx when we have a valid PCINT for this pin
if (digitalPinToPCICR(_receivePin)) {
if (digitalPinToPCICR((int8_t)_receivePin)) {
#if GCC_VERSION > 40800
// Timings counted from gcc 4.8.2 output. This works up to 115200 on
// 16Mhz and 57600 on 8Mhz.
@ -357,7 +357,7 @@ void SoftwareSerial::begin(long speed)
// Enable the PCINT for the entire port here, but never disable it
// (others might also need it, so we disable the interrupt by using
// the per-pin PCMSK register).
*digitalPinToPCICR(_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
*digitalPinToPCICR((int8_t)_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
// Precalculate the pcint mask register and value, so setRxIntMask
// can be used inside the ISR without costing too much time.
_pcint_maskreg = digitalPinToPCMSK(_receivePin);

9
arduino/hardware/arduino/avr/libraries/SoftwareSerial/src/SoftwareSerial.h
Unescape View File

@ -111,13 +111,4 @@ public:
static inline void handle_interrupt() __attribute__((__always_inline__));
};
// Arduino 0012 workaround
#undef int
#undef char
#undef long
#undef byte
#undef float
#undef abs
#undef round
#endif

75
arduino/hardware/arduino/avr/libraries/Wire/examples/i2c_scanner/i2c_scanner.ino
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@ -0,0 +1,75 @@
// --------------------------------------
// i2c_scanner
//
// Version 1
// This program (or code that looks like it)
// can be found in many places.
// For example on the Arduino.cc forum.
// The original author is not know.
// Version 2, Juni 2012, Using Arduino 1.0.1
// Adapted to be as simple as possible by Arduino.cc user Krodal
// Version 3, Feb 26 2013
// V3 by louarnold
// Version 4, March 3, 2013, Using Arduino 1.0.3
// by Arduino.cc user Krodal.
// Changes by louarnold removed.
// Scanning addresses changed from 0...127 to 1...119,
// according to the i2c scanner by Nick Gammon
// https://www.gammon.com.au/forum/?id=10896
// Version 5, March 28, 2013
// As version 4, but address scans now to 127.
// A sensor seems to use address 120.
// Version 6, November 27, 2015.
// Added waiting for the Leonardo serial communication.
//
//
// This sketch tests the standard 7-bit addresses
// Devices with higher bit address might not be seen properly.
//
#include <Wire.h>
void setup() {
Wire.begin();
Serial.begin(9600);
while (!Serial); // Leonardo: wait for serial monitor
Serial.println("\nI2C Scanner");
}
void loop() {
int nDevices = 0;
Serial.println("Scanning...");
for (byte address = 1; address < 127; ++address) {
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(address);
byte error = Wire.endTransmission();
if (error == 0) {
Serial.print("I2C device found at address 0x");
if (address < 16) {
Serial.print("0");
}
Serial.print(address, HEX);
Serial.println(" !");
++nDevices;
} else if (error == 4) {
Serial.print("Unknown error at address 0x");
if (address < 16) {
Serial.print("0");
}
Serial.println(address, HEX);
}
}
if (nDevices == 0) {
Serial.println("No I2C devices found\n");
} else {
Serial.println("done\n");
}
delay(5000); // Wait 5 seconds for next scan
}

47
arduino/hardware/arduino/avr/libraries/Wire/src/Wire.cpp
Unescape View File

@ -18,6 +18,7 @@
Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
Modified 2017 by Chuck Todd (ctodd@cableone.net) to correct Unconfigured Slave Mode reboot
Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
*/
extern "C" {
@ -86,6 +87,52 @@ void TwoWire::setClock(uint32_t clock)
twi_setFrequency(clock);
}
/***
* Sets the TWI timeout.
*
* This limits the maximum time to wait for the TWI hardware. If more time passes, the bus is assumed
* to have locked up (e.g. due to noise-induced glitches or faulty slaves) and the transaction is aborted.
* Optionally, the TWI hardware is also reset, which can be required to allow subsequent transactions to
* succeed in some cases (in particular when noise has made the TWI hardware think there is a second
* master that has claimed the bus).
*
* When a timeout is triggered, a flag is set that can be queried with `getWireTimeoutFlag()` and is cleared
* when `clearWireTimeoutFlag()` or `setWireTimeoutUs()` is called.
*
* Note that this timeout can also trigger while waiting for clock stretching or waiting for a second master
* to complete its transaction. So make sure to adapt the timeout to accomodate for those cases if needed.
* A typical timeout would be 25ms (which is the maximum clock stretching allowed by the SMBus protocol),
* but (much) shorter values will usually also work.
*
* In the future, a timeout will be enabled by default, so if you require the timeout to be disabled, it is
* recommended you disable it by default using `setWireTimeoutUs(0)`, even though that is currently
* the default.
*
* @param timeout a timeout value in microseconds, if zero then timeout checking is disabled
* @param reset_with_timeout if true then TWI interface will be automatically reset on timeout
* if false then TWI interface will not be reset on timeout
*/
void TwoWire::setWireTimeout(uint32_t timeout, bool reset_with_timeout){
twi_setTimeoutInMicros(timeout, reset_with_timeout);
}
/***
* Returns the TWI timeout flag.
*
* @return true if timeout has occured since the flag was last cleared.
*/
bool TwoWire::getWireTimeoutFlag(void){
return(twi_manageTimeoutFlag(false));
}
/***
* Clears the TWI timeout flag.
*/
void TwoWire::clearWireTimeoutFlag(void){
twi_manageTimeoutFlag(true);
}
uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint32_t iaddress, uint8_t isize, uint8_t sendStop)
{
if (isize > 0) {

4
arduino/hardware/arduino/avr/libraries/Wire/src/Wire.h
Unescape View File

@ -17,6 +17,7 @@
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
*/
#ifndef TwoWire_h
@ -54,6 +55,9 @@ class TwoWire : public Stream
void begin(int);
void end();
void setClock(uint32_t);
void setWireTimeout(uint32_t timeout = 25000, bool reset_with_timeout = false);
bool getWireTimeoutFlag(void);
void clearWireTimeoutFlag(void);
void beginTransmission(uint8_t);
void beginTransmission(int);
uint8_t endTransmission(void);

137
arduino/hardware/arduino/avr/libraries/Wire/src/utility/twi.c
Unescape View File

@ -17,6 +17,7 @@
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
*/
#include <math.h>
@ -24,8 +25,9 @@
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <compat/twi.h>
#include "Arduino.h" // for digitalWrite
#include "Arduino.h" // for digitalWrite and micros
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
@ -43,6 +45,16 @@ static volatile uint8_t twi_slarw;
static volatile uint8_t twi_sendStop; // should the transaction end with a stop
static volatile uint8_t twi_inRepStart; // in the middle of a repeated start
// twi_timeout_us > 0 prevents the code from getting stuck in various while loops here
// if twi_timeout_us == 0 then timeout checking is disabled (the previous Wire lib behavior)
// at some point in the future, the default twi_timeout_us value could become 25000
// and twi_do_reset_on_timeout could become true
// to conform to the SMBus standard
// http://smbus.org/specs/SMBus_3_1_20180319.pdf
static volatile uint32_t twi_timeout_us = 0ul;
static volatile bool twi_timed_out_flag = false; // a timeout has been seen
static volatile bool twi_do_reset_on_timeout = false; // reset the TWI registers on timeout
static void (*twi_onSlaveTransmit)(void);
static void (*twi_onSlaveReceive)(uint8_t*, int);
@ -154,8 +166,12 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sen
}
// wait until twi is ready, become master receiver
uint32_t startMicros = micros();
while(TWI_READY != twi_state){
continue;
if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
twi_handleTimeout(twi_do_reset_on_timeout);
return 0;
}
}
twi_state = TWI_MRX;
twi_sendStop = sendStop;
@ -183,22 +199,32 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sen
// up. Also, don't enable the START interrupt. There may be one pending from the
// repeated start that we sent ourselves, and that would really confuse things.
twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR
startMicros = micros();
do {
TWDR = twi_slarw;
if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
twi_handleTimeout(twi_do_reset_on_timeout);
return 0;
}
} while(TWCR & _BV(TWWC));
TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START
}
else
} else {
// send start condition
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
}
// wait for read operation to complete
startMicros = micros();
while(TWI_MRX == twi_state){
continue;
if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
twi_handleTimeout(twi_do_reset_on_timeout);
return 0;
}
}
if (twi_masterBufferIndex < length)
if (twi_masterBufferIndex < length) {
length = twi_masterBufferIndex;
}
// copy twi buffer to data
for(i = 0; i < length; ++i){
@ -222,6 +248,7 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sen
* 2 .. address send, NACK received
* 3 .. data send, NACK received
* 4 .. other twi error (lost bus arbitration, bus error, ..)
* 5 .. timeout
*/
uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop)
{
@ -233,8 +260,12 @@ uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait
}
// wait until twi is ready, become master transmitter
uint32_t startMicros = micros();
while(TWI_READY != twi_state){
continue;
if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
twi_handleTimeout(twi_do_reset_on_timeout);
return (5);
}
}
twi_state = TWI_MTX;
twi_sendStop = sendStop;
@ -265,18 +296,27 @@ uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait
// up. Also, don't enable the START interrupt. There may be one pending from the
// repeated start that we sent outselves, and that would really confuse things.
twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR
startMicros = micros();
do {
TWDR = twi_slarw;
if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
twi_handleTimeout(twi_do_reset_on_timeout);
return (5);
}
} while(TWCR & _BV(TWWC));
TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START
}
else
} else {
// send start condition
TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs
}
// wait for write operation to complete
startMicros = micros();
while(wait && (TWI_MTX == twi_state)){
continue;
if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
twi_handleTimeout(twi_do_reset_on_timeout);
return (5);
}
}
if (twi_error == 0xFF)
@ -373,8 +413,19 @@ void twi_stop(void)
// wait for stop condition to be exectued on bus
// TWINT is not set after a stop condition!
// We cannot use micros() from an ISR, so approximate the timeout with cycle-counted delays
const uint8_t us_per_loop = 8;
uint32_t counter = (twi_timeout_us + us_per_loop - 1)/us_per_loop; // Round up
while(TWCR & _BV(TWSTO)){
continue;
if(twi_timeout_us > 0ul){
if (counter > 0ul){
_delay_us(us_per_loop);
counter--;
} else {
twi_handleTimeout(twi_do_reset_on_timeout);
return;
}
}
}
// update twi state
@ -396,6 +447,59 @@ void twi_releaseBus(void)
twi_state = TWI_READY;
}
/*
* Function twi_setTimeoutInMicros
* Desc set a timeout for while loops that twi might get stuck in
* Input timeout value in microseconds (0 means never time out)
* Input reset_with_timeout: true causes timeout events to reset twi
* Output none
*/
void twi_setTimeoutInMicros(uint32_t timeout, bool reset_with_timeout){
twi_timed_out_flag = false;
twi_timeout_us = timeout;
twi_do_reset_on_timeout = reset_with_timeout;
}
/*
* Function twi_handleTimeout
* Desc this gets called whenever a while loop here has lasted longer than
* twi_timeout_us microseconds. always sets twi_timed_out_flag
* Input reset: true causes this function to reset the twi hardware interface
* Output none
*/
void twi_handleTimeout(bool reset){
twi_timed_out_flag = true;
if (reset) {
// remember bitrate and address settings
uint8_t previous_TWBR = TWBR;
uint8_t previous_TWAR = TWAR;
// reset the interface
twi_disable();
twi_init();
// reapply the previous register values
TWAR = previous_TWAR;
TWBR = previous_TWBR;
}
}
/*
* Function twi_manageTimeoutFlag
* Desc returns true if twi has seen a timeout
* optionally clears the timeout flag
* Input clear_flag: true if we should reset the hardware
* Output none
*/
bool twi_manageTimeoutFlag(bool clear_flag){
bool flag = twi_timed_out_flag;
if (clear_flag){
twi_timed_out_flag = false;
}
return(flag);
}
ISR(TWI_vect)
{
switch(TW_STATUS){
@ -416,9 +520,9 @@ ISR(TWI_vect)
TWDR = twi_masterBuffer[twi_masterBufferIndex++];
twi_reply(1);
}else{
if (twi_sendStop)
if (twi_sendStop){
twi_stop();
else {
} else {
twi_inRepStart = true; // we're gonna send the START
// don't enable the interrupt. We'll generate the start, but we
// avoid handling the interrupt until we're in the next transaction,
@ -445,6 +549,7 @@ ISR(TWI_vect)
case TW_MR_DATA_ACK: // data received, ack sent
// put byte into buffer
twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
__attribute__ ((fallthrough));
case TW_MR_SLA_ACK: // address sent, ack received
// ack if more bytes are expected, otherwise nack
if(twi_masterBufferIndex < twi_masterBufferLength){
@ -456,9 +561,9 @@ ISR(TWI_vect)
case TW_MR_DATA_NACK: // data received, nack sent
// put final byte into buffer
twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
if (twi_sendStop)
if (twi_sendStop){
twi_stop();
else {
} else {
twi_inRepStart = true; // we're gonna send the START
// don't enable the interrupt. We'll generate the start, but we
// avoid handling the interrupt until we're in the next transaction,
@ -530,6 +635,7 @@ ISR(TWI_vect)
twi_txBufferLength = 1;
twi_txBuffer[0] = 0x00;
}
__attribute__ ((fallthrough));
// transmit first byte from buffer, fall
case TW_ST_DATA_ACK: // byte sent, ack returned
// copy data to output register
@ -558,4 +664,3 @@ ISR(TWI_vect)
break;
}
}

6
arduino/hardware/arduino/avr/libraries/Wire/src/utility/twi.h
Unescape View File

@ -15,6 +15,8 @@
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
*/
#ifndef twi_h
@ -50,6 +52,8 @@
void twi_reply(uint8_t);
void twi_stop(void);
void twi_releaseBus(void);
void twi_setTimeoutInMicros(uint32_t, bool);
void twi_handleTimeout(bool);
bool twi_manageTimeoutFlag(bool);
#endif

5
arduino/hardware/arduino/avr/platform.txt
Unescape View File

@ -6,7 +6,7 @@
# https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5-3rd-party-Hardware-specification
name=Arduino AVR Boards
version=1.6.23
version=1.8.3
# AVR compile variables
# ---------------------
@ -33,6 +33,7 @@ compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,
compiler.elf2hex.flags=-O ihex -R .eeprom
compiler.elf2hex.cmd=avr-objcopy
compiler.ldflags=
compiler.libraries.ldflags=
compiler.size.cmd=avr-size
# This can be overridden in boards.txt
@ -65,7 +66,7 @@ archive_file_path={build.path}/{archive_file}
recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
## Combine gc-sections, archives, and objects
recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" {object_files} "{build.path}/{archive_file}" "-L{build.path}" -lm
recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} {compiler.ldflags} -o "{build.path}/{build.project_name}.elf" {object_files} {compiler.libraries.ldflags} "{build.path}/{archive_file}" "-L{build.path}" -lm
## Create output files (.eep and .hex)
recipe.objcopy.eep.pattern="{compiler.path}{compiler.objcopy.cmd}" {compiler.objcopy.eep.flags} {compiler.objcopy.eep.extra_flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.eep"

13
arduino/hardware/arduino/avr/programmers.txt
Unescape View File

@ -43,13 +43,22 @@ parallel.program.extra_params=-F
arduinoasisp.name=Arduino as ISP
arduinoasisp.communication=serial
arduinoasisp.protocol=arduino
arduinoasisp.protocol=stk500v1
arduinoasisp.speed=19200
arduinoasisp.program.protocol=arduino
arduinoasisp.program.protocol=stk500v1
arduinoasisp.program.speed=19200
arduinoasisp.program.tool=avrdude
arduinoasisp.program.extra_params=-P{serial.port} -b{program.speed}
arduinoasispatmega32u4.name=Arduino as ISP (ATmega32U4)
arduinoasispatmega32u4.communication=serial
arduinoasispatmega32u4.protocol=arduino
arduinoasispatmega32u4.speed=19200
arduinoasispatmega32u4.program.protocol=arduino
arduinoasispatmega32u4.program.speed=19200
arduinoasispatmega32u4.program.tool=avrdude
arduinoasispatmega32u4.program.extra_params=-P{serial.port} -b{program.speed}
usbGemma.name=Arduino Gemma
usbGemma.protocol=arduinogemma
usbGemma.program.tool=avrdude

1
arduino/hardware/arduino/avr/variants/ethernet/pins_arduino.h
Unescape View File

@ -250,5 +250,6 @@ const uint8_t PROGMEM digital_pin_to_timer_PGM[] = {
// pins are NOT connected to anything by default.
#define SERIAL_PORT_HARDWARE Serial
#define SERIAL_PORT_HARDWARE_OPEN Serial
#define SERIAL_PORT_MONITOR Serial
#endif

52
arduino/libraries/RF24/RF24.cpp
Unescape View File

@ -191,6 +191,17 @@ void RF24::print_status(uint8_t status)
((status >> RX_P_NO) & B111),
(status & _BV(TX_FULL))?1:0
);
char arr1[128];
sprintf_P(arr1, PSTR("STATUS\t\t = 0x%02x RX_DR=%x TX_DS=%x MAX_RT=%x RX_P_NO=%x TX_FULL=%x\r\n"),
status,
(status & _BV(RX_DR))?1:0,
(status & _BV(TX_DS))?1:0,
(status & _BV(MAX_RT))?1:0,
((status >> RX_P_NO) & B111),
(status & _BV(TX_FULL))?1:0
);
Serial.write(arr1);
}
/****************************************************************************/
@ -210,9 +221,20 @@ void RF24::print_byte_register(const char* name, uint8_t reg, uint8_t qty)
{
char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
while (qty--)
char arr1[32];
sprintf_P(arr1, PSTR(PRIPSTR"\t%c ="),name,extra_tab);
Serial.write(arr1);
while (qty--) {
printf_P(PSTR(" 0x%02x"), read_register(reg++));
char arr2[32];
sprintf_P(arr2, PSTR(" 0x%02x"), read_register(reg++));
Serial.write(arr2);
}
printf_P(PSTR("\r\n"));
char arr3[32];
sprintf_P(arr3, PSTR("\r\n"));
Serial.write(arr3);
}
/****************************************************************************/
@ -222,6 +244,10 @@ void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
char arr1[32];
sprintf_P(arr1, PSTR(PRIPSTR"\t%c ="),name,extra_tab);
Serial.write(arr1);
while (qty--)
{
uint8_t buffer[5];
@ -231,9 +257,15 @@ void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
uint8_t* bufptr = buffer + sizeof buffer;
while( --bufptr >= buffer )
printf_P(PSTR("%02x"),*bufptr);
char arr2[32];
sprintf_P(arr2, PSTR("%02x"),*bufptr);
Serial.write(arr2);
}
printf_P(PSTR("\r\n"));
char arr3[32];
sprintf_P(arr3, PSTR("\r\n"));
Serial.write(arr3);
}
/****************************************************************************/
@ -326,6 +358,24 @@ void RF24::printDetails(void)
printf_P(PSTR("Model\t\t = %S\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
printf_P(PSTR("CRC Length\t = %S\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
printf_P(PSTR("PA Power\t = %S\r\n"),pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
char arr1[32];
sprintf_P(arr1, PSTR("Data Rate\t = %S\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
Serial.write(arr1);
char arr2[32];
sprintf_P(arr2, PSTR("Model\t\t = %S\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
Serial.write(arr2);
char arr3[32];
sprintf_P(arr3, PSTR("CRC Length\t = %S\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
Serial.write(arr3);
char arr4[32];
sprintf_P(arr4, PSTR("PA Power\t = %S\r\n"),pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
Serial.write(arr4);
}
/****************************************************************************/

5
arduino/libraries/SoftPWM/SoftPWM.cpp
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@ -173,7 +173,10 @@ void SoftPWMSetPolarity(int8_t pin, uint8_t polarity) {
}
}
void SoftPWMSetPercent(int8_t pin, uint8_t percent, uint8_t hardset)
{
SoftPWMSet(pin, ((uint16_t)percent * 255) / 100, hardset);
}
void SoftPWMSet(uint8_t pin, uint8_t value, uint8_t hardset) {

2
arduino/libraries/SoftPWM/SoftPWM.h
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@ -49,7 +49,7 @@
void SoftPWMBegin(uint8_t defaultPolarity = SOFTPWM_NORMAL);
void SoftPWMSet(int8_t pin, uint8_t value, uint8_t hardset = 0);
void SoftPWMSet(uint8_t pin, uint8_t value, uint8_t hardset = 0);
void SoftPWMEnd(int8_t pin);

1
cad/IEbus/IEbus.kicad_pcb
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@ -0,0 +1 @@
(kicad_pcb (version 4) (host kicad "dummy file") )

33
cad/IEbus/IEbus.pro
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@ -0,0 +1,33 @@
update=22/05/2015 07:44:53
version=1
last_client=kicad
[general]
version=1
RootSch=
BoardNm=
[pcbnew]
version=1
LastNetListRead=
UseCmpFile=1
PadDrill=0.600000000000
PadDrillOvalY=0.600000000000
PadSizeH=1.500000000000
PadSizeV=1.500000000000
PcbTextSizeV=1.500000000000
PcbTextSizeH=1.500000000000
PcbTextThickness=0.300000000000
ModuleTextSizeV=1.000000000000
ModuleTextSizeH=1.000000000000
ModuleTextSizeThickness=0.150000000000
SolderMaskClearance=0.000000000000
SolderMaskMinWidth=0.000000000000
DrawSegmentWidth=0.200000000000
BoardOutlineThickness=0.100000000000
ModuleOutlineThickness=0.150000000000
[cvpcb]
version=1
NetIExt=net
[eeschema]
version=1
LibDir=
[eeschema/libraries]

4
cad/IEbus/IEbus.sch
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@ -0,0 +1,4 @@
EESchema Schematic File Version 2
EELAYER 25 0
EELAYER END
$EndSCHEMATC

BIN
cad/files.zip
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Binary file not shown.

380
cad/n/cad-B_Cu.gbr
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M02*

145
cad/n/cad-F_Mask.gbr
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54
cad/n/cad-F_Paste.gbr
Unescape View File

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175
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Unescape View File

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19
cad/n/cad-NPTH.drl
Unescape View File

@ -0,0 +1,19 @@
M48
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M30

125
cad/n/cad-PTH.drl
Unescape View File

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M48
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126
cad/n/cad-job.gbrjob
Unescape View File

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{
"Header":
{
"GenerationSoftware":
{
"Vendor": "KiCad",
"Application": "Pcbnew",
"Version": "5.1.6-c6e7f7d~87~ubuntu18.04.1"
},
"CreationDate": "2020-09-20T23:53:53-07:00"
},
"GeneralSpecs":
{
"ProjectId":
{
"Name": "cad",
"GUID": "6361642e-6b69-4636-9164-5f7063625858",
"Revision": "rev?"
},
"Size":
{
"X": 119.430,
"Y": 53.898
},
"LayerNumber": 2,
"BoardThickness": 1.600
},
"DesignRules":
[
{
"Layers": "Outer",
"PadToPad": 0.200,
"PadToTrack": 0.200,
"TrackToTrack": 0.200,
"MinLineWidth": 0.250
}
],
"FilesAttributes":
[
{
"Path": "cad-F_Cu.gbr",
"FileFunction": "Copper,L1,Top",
"FilePolarity": "Positive"
},
{
"Path": "cad-B_Cu.gbr",
"FileFunction": "Copper,L2,Bot",
"FilePolarity": "Positive"
},
{
"Path": "cad-F_Paste.gbr",
"FileFunction": "SolderPaste,Top",
"FilePolarity": "Positive"
},
{
"Path": "cad-B_Paste.gbr",
"FileFunction": "SolderPaste,Bot",
"FilePolarity": "Positive"
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{
"Path": "cad-F_SilkS.gbr",
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{
"Path": "cad-B_SilkS.gbr",
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"FilePolarity": "Positive"
},
{
"Path": "cad-F_Mask.gbr",
"FileFunction": "SolderMask,Top",
"FilePolarity": "Negative"
},
{
"Path": "cad-B_Mask.gbr",
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"FilePolarity": "Negative"
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{
"Path": "cad-Edge_Cuts.gbr",
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],
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[
{
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"Notes": "Layer F.SilkS"
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{
"Type": "SolderPaste",
"Notes": "Layer F.Paste"
},
{
"Type": "SolderMask",
"Notes": "Layer F.Mask"
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{
"Type": "Copper",
"Notes": "Layer F.Cu"
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{
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{
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]
}

259
dozer_main.cpp
Unescape View File

@ -5,7 +5,7 @@
#include <util/setbaud.h>
#include <Arduino.h>
#include <lib.h>
#include "SoftPWM.h"
#include <SoftPWM.h>
#include <SPI.h>
#include <nRF24L01.h>
@ -33,70 +33,267 @@ public:
const uint64_t dozer_pipe = 0xF0F0F0F0D2LL;
const uint64_t remote_pipe = 0xF0F0F0F0E1LL;
#pragma pack(8)
struct StickValues {
uint32_t stick_1_a;
uint32_t stick_1_b;
uint32_t stick_2_a;
uint32_t stick_2_b;
int16_t stick_1_y;
int16_t stick_1_x;
int16_t stick_2_y;
int16_t stick_2_x;
};
#define R_TRK_FWD 18
#define L_TRK_FWD 17
#define R_TRK_BKW 19
#define L_TRK_BKW 16
#define BKT_FWD 14
#define BKT_BKW 15
#define PI 3.141592654
#define DEG(rad) (rad*180.0/PI)
#define FULL_SPEED_ZONE 5
#define MAGIC_45_2_100 2.22222
#define MAG_SCALER_H 200
#define MAG_SCALER_L 290
int main() {
init();
initVariant();
SPI.begin();
Serial.begin(9600);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(GREEN, OUTPUT);
pinMode(RED, OUTPUT);
uart_init();
SoftPWMBegin();
RF24 radio(CE_PIN, CS_PIN);
radio.begin();
radio.setPALevel (RF24_PA_MAX);
radio.setChannel(100);
radio.setDataRate(RF24_1MBPS);
radio.openWritingPipe(dozer_pipe);
radio.openReadingPipe(1, remote_pipe);
radio.startListening();
//digitalWrite(18, HIGH);
// SoftPWMSet(18, 255, 1);
digitalWrite(GREEN, HIGH);
_delay_ms(2000);
digitalWrite(GREEN, LOW);
bool breaking = false;
int cycles = 0;
while (!breaking) {
//unsigned long start_wait = micros();
bool timeout = false;
while (!radio.available()) {
delay(5);
if (cycles++ > 10) {
digitalWrite(RED, HIGH);
_delay_ms(50);
digitalWrite(RED, LOW);
_delay_ms(50);
// digitalWrite(RED, HIGH);
_delay_ms(1);
// digitalWrite(RED, LOW);
_delay_ms(1);
timeout = true;
cycles = 0;
break;
}
}
if (timeout) {
// SoftPWMSet(17, 0);
// SoftPWMSet(18, 0);
SoftPWMSet(14, 0); // bucket
SoftPWMSet(15, 0); // bucket
SoftPWMSet(16, 0); // left track backward
SoftPWMSet(17, 0); // left track forward
SoftPWMSet(19, 0); // right track backward
SoftPWMSet(18, 0); // right track forward
} else {
cycles = 0;
StickValues stick_values{};
if (radio.read(&stick_values, sizeof(int16_t)*4)) {
// digitalWrite(GREEN, HIGH);
// _delay_ms(5);
// digitalWrite(GREEN, LOW);
// _delay_ms(5);
//Serial.println((int16_t)stick_values.stick_1_y);
}
StickValues stick_values;
radio.read(&stick_values, sizeof(uint32_t)*4);
radio.flush_rx();
radio.flush_tx();
// SoftPWMSet(17, stick_values.stick_1_a);
// SoftPWMSet(18, stick_values.stick_1_b);
if (stick_values.stick_1_y > 10) {
digitalWrite(GREEN, HIGH);
digitalWrite(RED, LOW);
} else if (stick_values.stick_1_y < -10) {
digitalWrite(RED, HIGH);
digitalWrite(GREEN, LOW);
} else {
digitalWrite(RED, LOW);
digitalWrite(GREEN, LOW);
}
SoftPWMSet(17, 80);
SoftPWMSet(18, 120);
float mag = sqrt(pow(stick_values.stick_1_x, 2) + pow(stick_values.stick_1_y, 2));
float ang = DEG(atan2((float)stick_values.stick_1_x, (float)stick_values.stick_1_y)) + 180;
int right_track = 0;
int left_track = 0;
if (ang >= 0 && ang < 90 && mag > 1) { // Bottom to Left Quad. RT:F
if (ang < 0 + FULL_SPEED_ZONE)
right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
else if (ang > 90 - FULL_SPEED_ZONE)
right_track = (int)(100.0 * (mag/MAG_SCALER_H));
else // split it (and mult) so it's ranged between -100, 100 then mag it
right_track = ((0 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
}
if (ang >= 90 && ang < 180 && mag > 1) { // Top to Left Quad. RT:F, LT:S
right_track = (int)(100.0 * (mag/MAG_SCALER_H));
if (ang < 90 + FULL_SPEED_ZONE)
left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
else if (ang > 180 - FULL_SPEED_ZONE)
left_track = (int)(100.0 * (mag/MAG_SCALER_H));
else
left_track = ((90 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
}
if (ang >= 180 && ang < 270 && mag > 1) { // Top to Right Quad
if (ang < 180 + FULL_SPEED_ZONE)
right_track = (int)(100.0 * (mag/MAG_SCALER_H));
else if (ang > 270 - FULL_SPEED_ZONE)
right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
else
right_track = ((180 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
left_track = (int)(100.0 * (mag/MAG_SCALER_H));
}
if (ang >= 270 && ang <= 360 && mag > 1) { // Bottom to Right Quad
right_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
if (ang < 270 + FULL_SPEED_ZONE)
left_track = (int)(100.0 * (mag/MAG_SCALER_H));
else if (ang > 360 - FULL_SPEED_ZONE)
left_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
else
left_track = ((270 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
}
// if (ang >= 0 && ang < 90 && mag > 1) {
// if (ang < 0 + FULL_SPEED_ZONE)
// right_track = left_track = -100;
//// else if (ang > 90 - FULL_SPEED_ZONE)
//// right_track = left_track = -100;
// else
// right_track = ((270 + 45) - ang) * 2 * (mag/290);
//
// left_track = -100 * (int)(mag/290);
// }
// if (ang >= 90 && ang < 180 && mag > 1) {
// right_track = 100 * (mag/290);
// if (ang > 90 - FULL_SPEED_ZONE) {
// right_track = 100;
// left_track = -100;
// }
// else
// left_track = (135 - ang) * -2 * (mag/290);
// }
// if (ang >= 180 && ang < 270 && mag > 1) {
// if (ang > 180 - FULL_SPEED_ZONE)
// right_track = 100 * (mag/290);
// else
// right_track = ((180 + 45) - ang) * 2 * (mag/290);
// left_track = 100 * (mag/290);
// }
// if (ang >= 270 && ang <= 360 && mag > 1) {
// right_track = -100 * (mag/290);
// if (ang > 270 - FULL_SPEED_ZONE) {
// left_track = -100 * (mag/290);
// } else {
// left_track = ((270 + 45) - ang) * 2 * (mag/290);
// }
// }
if (left_track > 0) {
SoftPWMSet(L_TRK_FWD, max(0, min(255, left_track)));
} else if (left_track < 0) {
SoftPWMSet(L_TRK_BKW, max(0, min(255, abs(left_track))));
} else if (left_track == 0) {
SoftPWMSet(L_TRK_BKW, 0);
SoftPWMSet(L_TRK_FWD, 0);
}
if (right_track > 0) {
SoftPWMSet(R_TRK_FWD, max(0, min(255, right_track)));
} else if (right_track < 0) {
SoftPWMSet(R_TRK_BKW, max(0, min(255, abs(right_track))));
} else if (right_track == 0) {
SoftPWMSet(R_TRK_FWD, 0);
SoftPWMSet(R_TRK_BKW, 0);
}
// int forward_delta = 0;
// if (stick_values.stick_1_x > 10) {
// forward_delta = min(max(0, stick_values.stick_1_x), 255);
//
// } else if (stick_values.stick_1_x < -10) {
// forward_delta = min(max(-255, stick_values.stick_1_x), 0);
// }
//
// if (stick_values.stick_1_y > 10) {
// int delta = min(max(0, stick_values.stick_1_y), 255);
// if (forward_delta > 0) {
// SoftPWMSet(R_TRK_FWD, delta + forward_delta);
// } else if (forward_delta <= 0) {
// SoftPWMSet(R_TRK_BKW, delta + forward_delta);
// }
// SoftPWMSet(L_TRK_FWD, delta);
// } else if (stick_values.stick_1_y < -10) {
// int delta = min(max(0, abs(stick_values.stick_1_y)), 255);
// if (forward_delta > 0) {
// SoftPWMSet(L_TRK_FWD, delta + forward_delta);
// } else if (forward_delta <= 0) {
// SoftPWMSet(L_TRK_BKW, delta + forward_delta);
// }
// SoftPWMSet(R_TRK_FWD, delta);
// } else {
//
// if (forward_delta > 10) {
// SoftPWMSet(L_TRK_FWD, forward_delta);
// SoftPWMSet(R_TRK_FWD, forward_delta);
// } else if (forward_delta < 10) {
// SoftPWMSet(L_TRK_BKW, forward_delta);
// SoftPWMSet(R_TRK_BKW, forward_delta);
// } else {
// SoftPWMSet(R_TRK_FWD, 0);
// SoftPWMSet(R_TRK_BKW, 0);
// SoftPWMSet(L_TRK_BKW, 0);
// SoftPWMSet(L_TRK_FWD, 0);
// }
// }
if (serialEventRun) serialEventRun();
}
}
}
//SoftPWMSet(14, 255); // bucket
//SoftPWMSet(15, 10); // bucket
//SoftPWMSet(16, 255); // left track backward
//SoftPWMSet(17, 255); // left track forward
//SoftPWMSet(19, 255); // right track backward
//SoftPWMSet(18, 255); // right track forward
// SoftPWMSet(17, stick_values.stick_1_y);
// SoftPWMSet(18, stick_values.stick_1_x);
// SoftPWMSet(19, stick_values.stick_2_y);
// SoftPWMSet(20, stick_values.stick_2_x);
// SoftPWMSet(21, stick_values.stick_3_a);
// SoftPWMSet(22, stick_values.stick_3_b);

8
lib.h
Unescape View File

@ -1,4 +1,12 @@
#define PI 3.141592654
#define DEG(rad) (rad*180.0/PI)
#define FULL_SPEED_ZONE 5
#define MAGIC_45_2_100 2.22222
#define MAG_SCALER_H 200
#define MAG_SCALER_L 290
void uart_init() {
// Upper and lower bytes of the calculated prescaler value for baud.
UBRR0H = UBRRH_VALUE;

4
listen-python
Unescape View File

@ -3,10 +3,10 @@
import serial, string
output = " "
ser = serial.Serial('/dev/ttyUSB0', 9600, 8, 'N', 1, timeout=1)
ser = serial.Serial('/dev/ttyUSB1', 9600, 8, 'N', 1, timeout=1)
while True:
while output != "":
output = ser.read(1)
output = ser.read(4)
print len(output)
try:
print int(output)

124
remote_main.cpp
Unescape View File

@ -1,5 +1,5 @@
#include <util/delay.h>
#include <avr/io.h>
#include <util/delay.h>
#include <stdio.h>
#include <stdarg.h>
#include <util/setbaud.h>
@ -11,10 +11,8 @@
#include <nRF24L01.h>
#include <RF24.h>
#define CE_PIN 3
#define CS_PIN 2
#define RED 4
#define GREEN 5
#define CE_PIN 7
#define CS_PIN 8
class Radio {
@ -32,44 +30,126 @@ public:
const uint64_t dozer_pipe = 0xF0F0F0F0D2LL;
const uint64_t remote_pipe = 0xF0F0F0F0E1LL;
#pragma pack(8)
struct StickValues {
uint32_t stick_1_a;
uint32_t stick_1_b;
uint32_t stick_2_a;
uint32_t stick_2_b;
int16_t stick_1_y;
int16_t stick_1_x;
int16_t stick_2_y;
int16_t stick_2_x;
};
int main() {
#define PI 3.141592654
#define DEG(rad) (rad*180.0/PI)
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
int main() {
uart_init();
init();
initVariant();
SPI.begin();
Serial.begin(9600);
RF24 radio(CE_PIN, CS_PIN);
radio.begin();
radio.setChannel(100);
radio.setPALevel (RF24_PA_MAX);
radio.setDataRate(RF24_1MBPS);
radio.openWritingPipe(remote_pipe);
radio.openReadingPipe(1, dozer_pipe);
radio.startListening();
bool breaking = false;
while (!breaking) {
delay(1000);
_delay_ms(100);
int16_t ref_stick_1_y = analogRead(A4); // RY
int16_t ref_stick_1_x = analogRead(A5); // RX
int16_t ref_stick_2_y = analogRead(A6); // LY
int16_t ref_stick_2_x = analogRead(A7); // LX
// Get input
while (true) {
// Parse into a struct
StickValues stick_values;
stick_values.stick_1_a = 100;
stick_values.stick_1_b = 50;
stick_values.stick_2_a = 0;
stick_values.stick_2_b = 0;
stick_values.stick_1_y = analogRead(A5); // RY
stick_values.stick_1_x = analogRead(A4); // RX
stick_values.stick_2_y = analogRead(A6); // LY
stick_values.stick_2_x = analogRead(A7); // LX
int16_t delta_1_y = stick_values.stick_1_y - ref_stick_1_y;
int16_t delta_1_x = ref_stick_1_x - stick_values.stick_1_x;
int16_t delta_2_y = stick_values.stick_2_y - ref_stick_2_y;
int16_t delta_2_x = stick_values.stick_2_x - ref_stick_2_x;
stick_values.stick_1_y = delta_1_y / 2;
stick_values.stick_1_x = delta_1_x / 2;
stick_values.stick_2_y = delta_2_y / 2;
stick_values.stick_2_x = delta_2_x / 2;
// Send to dozer
radio.stopListening();
radio.write(&stick_values, sizeof(uint32_t)*4);
delay(10);
if (radio.write(&stick_values, sizeof(int16_t)*4))
{
float mag = sqrt(pow(stick_values.stick_1_x, 2) + pow(stick_values.stick_1_y, 2));
float ang = DEG(atan2((float)stick_values.stick_1_x, (float)stick_values.stick_1_y)) + 180;
int right_track = 0;
int left_track = 0;
if (ang >= 0 && ang < 90 && mag > 1) { // Bottom to Left Quad. RT:F
if (ang < 0 + FULL_SPEED_ZONE)
right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
else if (ang > 90 - FULL_SPEED_ZONE)
right_track = (int)(100.0 * (mag/MAG_SCALER_H));
else // split it (and mult) so it's ranged between -100, 100 then mag it
right_track = ((0 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
}
if (ang >= 90 && ang < 180 && mag > 1) { // Top to Left Quad. RT:F, LT:S
right_track = (int)(100.0 * (mag/MAG_SCALER_H));
if (ang < 90 + FULL_SPEED_ZONE)
left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
else if (ang > 180 - FULL_SPEED_ZONE)
left_track = (int)(100.0 * (mag/MAG_SCALER_H));
else
left_track = ((90 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
}
if (ang >= 180 && ang < 270 && mag > 1) { // Top to Right Quad
if (ang < 180 + FULL_SPEED_ZONE)
right_track = (int)(100.0 * (mag/MAG_SCALER_H));
else if (ang > 270 - FULL_SPEED_ZONE)
right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
else
right_track = ((180 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
left_track = (int)(100.0 * (mag/MAG_SCALER_H));
}
if (ang >= 270 && ang <= 360 && mag > 1) { // Bottom to Right Quad
right_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
if (ang < 270 + FULL_SPEED_ZONE)
left_track = (int)(100.0 * (mag/MAG_SCALER_H));
else if (ang > 360 - FULL_SPEED_ZONE)
left_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
else
left_track = ((270 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
}
//Serial.println(mag);
Serial.print(ang);
Serial.print(" : ");
Serial.print(mag);
Serial.print(" : [");
Serial.print(left_track);
Serial.print(", ");
Serial.print(right_track);
Serial.println("]");
//Serial.println("");
}
radio.startListening();
if (serialEventRun) serialEventRun();
}
}

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