/*******************************************************************************

*
* File Name: asuro.c
* Project : ASURO
*
* Description: This file contains ASURO main features
*
* Ver. Date Author Comments
* ------- ---------- -------------- ------------------------------
* 1.00 14.08.2003 Jan Grewe build
* 2.00 14.10.2003 Jan Grewe LEFT_VEL, RIGHT_VEL -> MotorSpeed(unsig
ned char left_speed, unsigned char right_speed);
*
LeftRwd(),LeftFwd(),RightRwd(),RigthFwd() -> MotorDir(unsigned char left_dir, u
nsigned char right_dir);
* GREEN_ON,GREEN_OFF,RED_ON,RED_OFF -> St
atusLED(unsigned char color);
* LED_RED_ON, LED_RED_OFF -> FrontLED(uns
igned char color);
* Blink(unsigned char left, unsigned char
right) -> BackLED(unsigned char left, unsigned char right);
* Alles in Funktionen gefasst => leichter
verständlich ?!?!
* 2.10 17.10.2003 Jan Grewe new Timer funktion void Sleep(unsigned
char time36kHz)
*
* Copyright (c) 2003 DLR Robotics & Mechatronics
*****************************************************************************/
/***************************************************************************
* *
* 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 *
* any later version. *
***************************************************************************/
#include "asuro.h"
volatile unsigned char count72kHz;
/* uses timer2 (36kHz for IR communication */
/* counts falling and rising edge => 36kHz*2 = 72kHz */
interrupt [TIM2_COMP] void timer2_comp_isr(void)
{
count72kHz ++;
}
/* Init function Processor will be initalized to work correctly */
void Init (void)
{
//-------- seriell interface programmed in boot routine and already runn
ing -------
// prepare 36kHz for IR - Communication
TCCR2 = (1 << WGM21) | (1 << COM20) | (1 << CS20);
OCR2 = 0x6E; // 36kHz @8MHz
TIMSK |= (1 << OCIE2); // 36kHz counter for sleep
// prepare RS232
UCSRA = 0x00;
UCSRB = 0x00;
UCSRC = 0x86; // No Parity | 1 Stop Bit | 8 Data Bit
 UBRRL = 0xCF; // 2400bps @ 8.00MHz
// I/O Ports
DDRB = IRTX | LEFT_DIR | PWM | GREEN_LED;
DDRD = RIGHT_DIR | FRONT_LED | ODOMETRIE_LED | RED_LED;
// for PWM (8-Bit PWM) on OC1A & OC1B
TCCR1A = (1 << WGM10) | (1 << COM1A1) | (1 << COM1B1);
// tmr1 running on MCU clock/8
TCCR1B = (1 << CS11);
// A/D Conversion
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // clk/64
ODOMETRIE_LED_OFF;
FrontLED(OFF);
BackLED(ON,ON);
BackLED(OFF,OFF);
StatusLED(GREEN);
MotorDir(FWD,FWD);
MotorSpeed(0,0);
#asm ("sei");
}
/* Set motor speed */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed)
{
OCR1A = left_speed;
OCR1B = right_speed;
}
/* Set motor direction */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir)
{
PORTD = (PORTD &~ ((1 << PD4) | (1 << PD5))) | left_dir;
PORTB = (PORTB &~ ((1 << PB4) | (1 << PB5))) | right_dir;
}
/* Status LED (OFF,GREEN,YELLOW,RED)*/
/* example code set StatusLED GREEN */
/* StatusLED(GREEN); */
inline void StatusLED(unsigned char color)
{
if (color == OFF) {GREEN_LED_OFF; RED_LED_OFF;}
if (color == GREEN) {GREEN_LED_ON; RED_LED_OFF;}
if (color == YELLOW) {GREEN_LED_ON; RED_LED_ON;}
if (color == RED) {GREEN_LED_OFF; RED_LED_ON;}
}
/* Front LED */
/* example code FrontLED ON */
/* FrontLED(ON); */
inline void FrontLED(unsigned char status)
{
PORTD = (PORTD &~(1 << PD6)) | (status << PD6);
}
/* function for Break LEDs */
/* example code right LED On left LED Off */
/* BackLED(OFF,ON); */
void BackLED(unsigned char left, unsigned char right)
{
if (left || right) {
PORTD &= ~(1 << PD7); // Wheel LED OFF
DDRC |= (1 << PC0) | (1 << PC1); // Output => no odometrie
PORTC |= (1 << PC0) | (1 << PC1);
}
if (!left) PORTC &= ~(1 << PC1);
if (!right) PORTC &= ~(1 << PC0);
}
/* function to read out line follow phototransistors (left,rigth) */
void LineData(unsigned int *data)
{
ADMUX = (1 << REFS0) | IR_LEFT; // AVCC reference with external capacito
r
ADCSRA |= (1 << ADSC); // Start conversion
while (!(ADCSRA & (1 << ADIF))); // wait for conversion complete
ADCSRA |= (1 << ADIF); // clear ADCIF
data[0] = ADCL + (ADCH << 8);
ADMUX = (1 << REFS0) | IR_RIGHT; // AVCC reference with external
capacitor
ADCSRA |= (1 << ADSC); // Start conversion
while (!(ADCSRA & (1 << ADIF))); // wait for conversion complete
ADCSRA |= (1 << ADIF); // clear ADCIF
data[1] = ADCL + (ADCH << 8);
}
/* function to read out odometrie phototransistors (left,rigth) */
void OdometrieData(unsigned int *data)
{
DDRC &= ~((1 << PC0) | (1 << PC1)); // Input => no break LED
ODOMETRIE_LED_ON;
ADMUX = (1 << REFS0) | WHEEL_LEFT; // AVCC reference with external capac
itor
ADCSRA |= (1 << ADSC); // Start conversion
while (!(ADCSRA & (1 << ADIF))); // wait for conversion complete
ADCSRA |= (1 << ADIF); // clear ADCIF
data[0] = ADCL + (ADCH << 8);
ADMUX = (1 << REFS0) | WHEEL_RIGHT; // AVCC reference with external capa
citor
ADCSRA |= (1 << ADSC); // Start conversion
while (!(ADCSRA & (1 << ADIF))); // wait for conversion complete
ADCSRA |= (1 << ADIF); // clear ADCIF
data[1] = ADCL + (ADCH << 8);
}
void SerWriteFLASH(flash char *data,unsigned char length)
{
unsigned char i = 0;
UCSRB = 0x08; // enable transmitter
while (length > 0) {
if (UCSRA & 0x20) { // wait for empty transmit buffer
UDR = data[i++];
length --;
}
 }
while (!(UCSRA & 0x40));
for (i = 0; i < 0xFE; i++)
for(length = 0; length < 0xFE; length++);
}
/* function for serial communication */
void SerWrite(unsigned char *data,unsigned char length)
{
unsigned char i = 0;
UCSRB = 0x08; // enable transmitter
while (length > 0) {
if (UCSRA & 0x20) { // wait for empty transmit buffer
UDR = data[i++];
length --;
}
}
while (!(UCSRA & 0x40));
for (i = 0; i < 0xFE; i++)
for(length = 0; length < 0xFE; length++);
}
void SerRead(unsigned char *data, unsigned char length,unsigned int timeout)
{
unsigned char i = 0;
unsigned int time = 0;
UCSRB = 0x10; // enable receiver
/* non blocking */
if (timeout != 0) {
while (i < length && time++ < timeout) {
if (UCSRA & 0x80) {
data[i++] = UDR;
time = 0;
}
}
if (time > timeout) data[0] = 'T';
}
/* blocking */
else {
while (i < length) {
if (UCSRA & 0x80)
data[i++] = UDR;
}
}
}
/* function to read out switches */
unsigned char PollSwitch (void)
{
unsigned int i;
DDRD |= SWITCHES; // Switches as Output
SWITCH_ON; // Output HIGH f
or measurement
ADMUX = (1 << REFS0) | SWITCH; // AVCC reference with external capacito
r
Sleep(10);
ADCSRA |= (1 << ADSC); // Start conversion
while (!(ADCSRA & (1 << ADIF)));// wait for conversion complete
 ADCSRA |= (1 << ADIF); // clear ADCIF
i = ADCL + (ADCH << 8);
SWITCH_OFF;
return ((unsigned char) ((( 1024.0/(float)i - 1.0)) * 63.0 + 0.5));
}
/* for working with Interrupt */
void StartSwitch(void)
{
SWITCH_OFF;
DDRD &= ~SWITCHES; // Switches as I
nput => ext. Int 1
MCUCR &= ~((1 << ISC11) | (1 << ISC10));// Low level generates interrupt
GICR |= (1 << INT1); // Enable extern
al Interrupt 1
}
void StopSwitch(void)
{
GICR &= ~(1 << INT1);
}
/* uses 72kHz timer => Sleep(x) = x/72kHz [sec] */
void Sleep(unsigned char time72kHz)
{
count72kHz = 0;
while (count72kHz < time72kHz);
}