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[Krobot-commits] [SCM] krobot branch, master, updated. 1a24a20f6a0f0c2dfec057e5c2ae18aa9327a042
|
From: Olivier B. <Ba...@us...> - 2010-05-08 16:03:40
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 1a24a20f6a0f0c2dfec057e5c2ae18aa9327a042 (commit)
from 81aee3dc8f70d9a20150f107216b1fbde85b52bb (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 1a24a20f6a0f0c2dfec057e5c2ae18aa9327a042
Author: Olivier BICHLER <oli...@cr...>
Date: Sat May 8 18:03:10 2010 +0200
Added infrared rangefinders interface
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Interface_Robot/Firmware/HardwareProfile.h b/elec/boards/Interface_Robot/Firmware/HardwareProfile.h
index 75aed2b..8e82be1 100644
--- a/elec/boards/Interface_Robot/Firmware/HardwareProfile.h
+++ b/elec/boards/Interface_Robot/Firmware/HardwareProfile.h
@@ -50,6 +50,8 @@
#ifndef HARDWARE_PROFILE_H
#define HARDWARE_PROFILE_H
+ #define KROBOT_2010
+
/*******************************************************************/
/******** USB stack hardware selection options *********************/
/*******************************************************************/
diff --git a/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcp b/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcp
index ed967e2..f92b9b9 100644
--- a/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcp
+++ b/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcp
@@ -39,22 +39,24 @@ file_011=.
file_012=.
file_013=.
file_014=.
-file_015=Common
+file_015=.
file_016=Common
-file_017=USB Stack
+file_017=Common
file_018=USB Stack
file_019=USB Stack
file_020=USB Stack
file_021=USB Stack
file_022=USB Stack
file_023=USB Stack
-file_024=.
+file_024=USB Stack
file_025=.
file_026=.
file_027=.
file_028=.
file_029=.
file_030=.
+file_031=.
+file_032=.
[GENERATED_FILES]
file_000=no
file_001=no
@@ -87,6 +89,8 @@ file_027=no
file_028=no
file_029=no
file_030=no
+file_031=no
+file_032=no
[OTHER_FILES]
file_000=no
file_001=no
@@ -119,6 +123,8 @@ file_027=no
file_028=no
file_029=no
file_030=no
+file_031=no
+file_032=no
[FILE_INFO]
file_000=usb_descriptors.c
file_001=main.c
@@ -131,26 +137,28 @@ file_007=servo.c
file_008=mcc.c
file_009=adjd-s371.c
file_010=lcd.c
-file_011=HardwareProfile.h
-file_012=usb_config.h
-file_013=eeprom.h
-file_014=PcInterface.h
-file_015=Include\Compiler.h
-file_016=Include\GenericTypeDefs.h
-file_017=Include\Usb\usb.h
-file_018=Include\Usb\usb_ch9.h
-file_019=Include\Usb\usb_common.h
-file_020=Include\Usb\usb_device.h
-file_021=Include\Usb\usb_function_hid.h
-file_022=Include\Usb\usb_hal.h
-file_023=Include\Usb\usb_hal_pic18.h
-file_024=ax12.h
-file_025=error.h
-file_026=servo.h
-file_027=mcc.h
-file_028=adjd-s371.h
-file_029=lcd.h
-file_030=rm18f4550.lkr
+file_011=infrared.c
+file_012=HardwareProfile.h
+file_013=usb_config.h
+file_014=eeprom.h
+file_015=PcInterface.h
+file_016=Include\Compiler.h
+file_017=Include\GenericTypeDefs.h
+file_018=Include\Usb\usb.h
+file_019=Include\Usb\usb_ch9.h
+file_020=Include\Usb\usb_common.h
+file_021=Include\Usb\usb_device.h
+file_022=Include\Usb\usb_function_hid.h
+file_023=Include\Usb\usb_hal.h
+file_024=Include\Usb\usb_hal_pic18.h
+file_025=ax12.h
+file_026=error.h
+file_027=servo.h
+file_028=mcc.h
+file_029=adjd-s371.h
+file_030=lcd.h
+file_031=infrared.h
+file_032=rm18f4550.lkr
[SUITE_INFO]
suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
suite_state=
diff --git a/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcs b/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcs
index a53f261..445f9f6 100644
--- a/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcs
+++ b/elec/boards/Interface_Robot/Firmware/Robot_Interface.mcs
@@ -2,183 +2,196 @@
MagicCookie={0b13fe8c-dfe0-40eb-8900-6712719559a7}
Version=1.0
[File000]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_descriptors.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\usb_descriptors.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
LanguageToolID={E56A1C86-9D32-4DF6-8C34-FE0388B1B644}
LanguageToolLocation=C:\MCC18\bin\mcc18.exe
PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=
TraceCmdString=
DebugOptions=
[File001]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\main.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\main.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
LanguageToolID={E56A1C86-9D32-4DF6-8C34-FE0388B1B644}
LanguageToolLocation=C:\MCC18\bin\mcc18.exe
PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=
TraceCmdString=
DebugOptions=
[File002]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\eeprom.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\eeprom.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
LanguageToolID={E56A1C86-9D32-4DF6-8C34-FE0388B1B644}
LanguageToolLocation=C:\MCC18\bin\mcc18.exe
PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
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+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=
TraceCmdString=
DebugOptions=
[File003]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_device.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\usb_device.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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ToolArgsString=
TraceCmdString=
DebugOptions=
[File004]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_function_hid.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\usb_function_hid.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=
TraceCmdString=
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[File005]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\ax12.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\ax12.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=
TraceCmdString=
DebugOptions=
[File006]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\error.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\error.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
LanguageToolID={E56A1C86-9D32-4DF6-8C34-FE0388B1B644}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=
TraceCmdString=
DebugOptions=
[File007]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\servo.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\servo.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
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+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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[File008]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\mcc.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\mcc.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
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-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\adjd-s371.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\adjd-s371.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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[File010]
-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\lcd.o
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\lcd.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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[File011]
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+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\infrared.o
+Folder=Intermediary
+DeviceName=PIC18F4550
+LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
+LanguageToolID={E56A1C86-9D32-4DF6-8C34-FE0388B1B644}
+LanguageToolLocation=C:\MCC18\bin\mcc18.exe
+PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\Robot_Interface.cof
Folder=Output
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LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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-Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.hex
+[File013]
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Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
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+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
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-[File013]
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+[File014]
+Location=C:\krobot\elec\boards\Interface_Robot\Firmware\output\Robot_Interface.map
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
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LanguageToolLocation=C:\MCC18\bin\mplink.exe
PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|usb_device.c|usb_function_hid.c|ax12.c|error.c|servo.c|mcc.c|adjd-s371.c|lcd.c|infrared.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=/m"$(BINDIR_)$(TARGETBASE).map" /w /o"$(BINDIR_)$(TARGETBASE).cof"
TraceCmdString=
diff --git a/elec/boards/Interface_Robot/Firmware/infrared.c b/elec/boards/Interface_Robot/Firmware/infrared.c
new file mode 100644
index 0000000..8eda7e5
--- /dev/null
+++ b/elec/boards/Interface_Robot/Firmware/infrared.c
@@ -0,0 +1,119 @@
+#ifndef INFRARED_C
+#define INFRARED_C
+
+#include "infrared.h"
+
+volatile long IF1range[IF_AVR1];
+volatile long IF2range[IF_AVR1];
+
+void initIF() {
+ /* Initialisation des PINs */
+ TRISD&= 0b11111100; /* OPTOSW1, OPTOSW2 */
+
+ OPTOSW1 = 0;
+ OPTOSW2 = 0;
+
+ OpenADC(ADC_FOSC_64 /* A/D clock source (forcnt Fosc / 64 car PIC 8 MHz) */
+ & ADC_RIGHT_JUST /* A/D result justification */
+ & ADC_0_TAD, /* A/D acquisition time select (pas la peine d'attendre avant le */
+ /* dt de la conversion car l'acquisition a largement eu le */
+ /* temps de se faire entre chaque interruption, toutes les 1 ms) */
+ ADC_INT_OFF /* A/D Interrupts */
+ & ADC_REF_VDD_VSS, /* A/D voltage configuration */
+ ADC_2ANA
+ );
+}
+
+void interruptIF(void) {
+ static char state = 0;
+ static char IF1_idx = 0;
+ static char IF2_idx = 0;
+ static long IF1range_0[IF_AVR0];
+ static long IF2range_0[IF_AVR0];
+
+ char i;
+
+ switch (state) {
+ case 0:
+ OPTOSW1 = 1;
+
+ // Drre la convertion sur RA0
+ SelChanConvADC(ADC_CH0);
+ state = 1;
+ break;
+
+ case 1:
+ // Rp le rltat de la conversion
+ if (!BusyADC()) {
+ IF1range_0[IF1_idx] = ReadADC();
+ state = 2;
+ }
+ break;
+
+ case 2:
+ OPTOSW1 = 0;
+ OPTOSW2 = 1;
+
+ // Drre la convertion sur RA1
+ SelChanConvADC(ADC_CH1);
+ state = 3;
+ break;
+
+ case 3:
+ // Rp le rltat de la conversion
+ if (!BusyADC()) {
+ IF2range_0[IF1_idx] = ReadADC();
+ state = 4;
+ }
+ break;
+
+ case 4:
+ OPTOSW2 = 0;
+
+ // Traitement des rltats
+ IF1_idx++;
+
+ if (IF1_idx >= IF_AVR0) {
+ IF1_idx = 0;
+ IF1range[IF2_idx] = 0;
+ IF2range[IF2_idx] = 0;
+
+ for (i = 0; i < IF_AVR0; i++) {
+ IF1range[IF2_idx]+= IF1range_0[i];
+ IF2range[IF2_idx]+= IF2range_0[i];
+ }
+
+ IF2_idx++;
+
+ if (IF2_idx >= IF_AVR1)
+ IF2_idx = 0;
+ }
+
+ state = 0;
+ break;
+
+ default:
+ state = 0;
+ }
+}
+
+long getIFRange(char sensor) {
+ char i;
+ long IFrange = 0;
+
+ if (sensor == 0) {
+ for (i = 0; i < IF_AVR1; i++)
+ IFrange+= IF1range[i];
+ }
+ else if (sensor == 1) {
+ for (i = 0; i < IF_AVR1; i++)
+ IFrange+= IF2range[i];
+ }
+ else {
+ return 0;
+ }
+
+ return (long) (((float) IFrange / IF_AVR0 / IF_AVR1) * 5.0 / 1023.0);
+}
+
+#endif
diff --git a/elec/boards/Interface_Robot/Firmware/infrared.h b/elec/boards/Interface_Robot/Firmware/infrared.h
new file mode 100644
index 0000000..11dadae
--- /dev/null
+++ b/elec/boards/Interface_Robot/Firmware/infrared.h
@@ -0,0 +1,23 @@
+#ifndef INFRARED_H
+#define INFRARED_H
+
+#include <adc.h>
+#include "GenericTypeDefs.h"
+#include "Compiler.h"
+#include "HardwareProfile.h"
+#include "PcInterface.h"
+#include "error.h"
+
+// Parames graux
+#define IF_AVR0 10
+#define IF_AVR1 10
+
+// Entr / sorties
+#define OPTOSW1 PORTDbits.RD0
+#define OPTOSW2 PORTDbits.RD1
+
+void initIF(void);
+void interruptIF(void);
+long getIFRange(char sensor);
+
+#endif
diff --git a/elec/boards/Interface_Robot/Firmware/lcd.h b/elec/boards/Interface_Robot/Firmware/lcd.h
index 0e459d8..7db17a1 100644
--- a/elec/boards/Interface_Robot/Firmware/lcd.h
+++ b/elec/boards/Interface_Robot/Firmware/lcd.h
@@ -11,6 +11,8 @@
#include "HardwareProfile.h"
#include <i2c.h>
+#define ADD_LCD 0x07
+
// Commandes de l'afficheur LCD
#define CMD_HEAD 0x1B
#define CMD_CLEAR 0x43
@@ -31,4 +33,4 @@ void lcd_write(BYTE address, unsigned char* msg);
void lcd_write_line(BYTE address, BYTE line, unsigned char *msg);
-#endif
\ No newline at end of file
+#endif
diff --git a/elec/boards/Interface_Robot/Firmware/main.c b/elec/boards/Interface_Robot/Firmware/main.c
index 78620d2..f42183b 100644
--- a/elec/boards/Interface_Robot/Firmware/main.c
+++ b/elec/boards/Interface_Robot/Firmware/main.c
@@ -92,9 +92,7 @@
#include "mcc.h"
#include "adjd-s371.h"
#include "lcd.h"
-
-
-#define ADD_LCD 0x07
+#include "infrared.h"
/* VARIABLES ******************************************************/
#pragma udata
@@ -246,7 +244,11 @@ char ResetSource(void);
PIR1bits.RCIF = 0;
}
- #ifdef MODE_INAB
+ #ifdef KROBOT_2010
+ interruptIF();
+ #endif
+
+ #ifdef KROBOT_2010
// Interruption par le timer0
if (INTCONbits.TMR0IF) {
interruptMotor1();
@@ -256,7 +258,7 @@ char ResetSource(void);
}
#endif
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
// Interruption par le timer1
if (PIR1bits.TMR1IF) {
interruptMotor2();
@@ -280,7 +282,7 @@ char ResetSource(void);
sProdL = PRODL;
sProdH = PRODH;
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
// Interruption par le timer0
if (INTCONbits.TMR0IF) {
interruptMotor1();
@@ -583,6 +585,7 @@ void UserInit(void)
initServos();
initMCC(0);
initAdjd();
+ initIF();
}//end UserInit
@@ -808,6 +811,16 @@ void ProcessIO(void) {
*/
break;
+ case GET_RANGEFINDER_STATE:
+ for (i = 0; i < 2; i++) {
+ dword.Val = getIFRange(i);
+ ToSendDataBuffer.DATA[4*i] = dword.byte.MB;
+ ToSendDataBuffer.DATA[4*i + 1] = dword.byte.UB;
+ ToSendDataBuffer.DATA[4*i + 2] = dword.byte.HB;
+ ToSendDataBuffer.DATA[4*i + 3] = dword.byte.LB;
+ }
+ break;
+
default:
ToSendDataBuffer.ERR = ERR_UNKNOWN_GET;
}
diff --git a/elec/boards/Interface_Robot/Firmware/mcc.c b/elec/boards/Interface_Robot/Firmware/mcc.c
index 2f8194b..ff0119f 100644
--- a/elec/boards/Interface_Robot/Firmware/mcc.c
+++ b/elec/boards/Interface_Robot/Firmware/mcc.c
@@ -15,7 +15,7 @@ volatile unsigned long durationMotor2 = 0;
void initMCC(char withEncoder) {
/* Initialisation des PINs */
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
TRISA&= 0b11111110; /* M1_SENS */
TRISB&= 0b11000011; /* M1_EN, M2_PWM, M2_SENS, M2_EN */
TRISC&= 0b11111011; /* M1_PWM */
@@ -51,7 +51,7 @@ void initMCC(char withEncoder) {
);
}
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
INTCON2bits.TMR0IP = 0; // Low priority interrupt for timer0
// Configuration du timer1
@@ -78,7 +78,7 @@ void initMCC(char withEncoder) {
#endif
/* Initialisation de l't des PINs */
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
M1_EN = 0;
M2_EN = 0;
M1_PWM = 0;
@@ -104,7 +104,7 @@ void interruptMotor1() {
CCP1CON = 0;
M1_PWM = 0;
- #ifdef MODE_INAB
+ #ifdef KROBOT_2010
M1_INA = 0;
M1_INB = 0;
#endif
@@ -112,7 +112,7 @@ void interruptMotor1() {
}
}
-#ifdef MODE_SENS
+#ifndef KROBOT_2010
void interruptMotor2() {
WriteTimer1(5536); // 2^16 - 60 000 : la prochaine interruption a lieu dans 60 000 cycles * 8 = 40 ms
@@ -140,7 +140,7 @@ void interruptMotor1() {
* #MOTOR_BOTH les 2 moteurs
*/
void enableMotor(char axis) {
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
if (axis & MOTOR_RIGHT)
M1_EN = 1;
@@ -162,7 +162,7 @@ void enableMotor(char axis) {
* #MOTOR_BOTH les 2 moteurs
*/
void disableMotor(char axis) {
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
if (axis & MOTOR_RIGHT)
M1_EN = 0;
@@ -185,7 +185,7 @@ void disableMotor(char axis) {
* @param duration durd'activation, en ms (0 = rotation continue)
*/
void move(char axis, char sens, BYTE speed, unsigned long duration) {
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
if (axis & MOTOR_RIGHT) {
durationMotor1 = duration / 40;
WriteTimer0(5536);
@@ -233,7 +233,7 @@ BOOL checkTOR(void) {
// M1_SENS == 0 : up (IN3 = RD7 = TOR2)
// M1_SENS == 1 : down (IN2 = RD6 = TOR1)
- #ifdef MODE_SENS
+ #ifndef KROBOT_2010
if ((M1_SENS == 1 && !TOR1) || (M1_SENS == 0 && !TOR2)) {
//ClosePWM1();
CCP1CON = 0;
diff --git a/elec/boards/Interface_Robot/Firmware/mcc.h b/elec/boards/Interface_Robot/Firmware/mcc.h
index bb7c985..b2b81e7 100644
--- a/elec/boards/Interface_Robot/Firmware/mcc.h
+++ b/elec/boards/Interface_Robot/Firmware/mcc.h
@@ -18,25 +18,28 @@
#define H_BRIDGE_VOLTAGE 24.0
#define MOTOR1_VOLTAGE 15.0
#define MOTOR2_VOLTAGE 15.0
-//#define MODE_SENS
-#define MODE_INAB
// Entr / sorties
-#define ENC1_A PORTAbits.RA4
-#define ENC1_B PORTAbits.RA5
-#define ENC1_NI PORTEbits.RE0
-#define M1_EN PORTBbits.RB2
-#define M1_PWM PORTCbits.RC2
-#define M1_SENS PORTAbits.RA0
-#define M1_INA PORTAbits.RA0
-#define M1_INB PORTBbits.RB4 // Only available if M2 is not used (mode MODE_INAB)
-
-#define ENC2_A PORTCbits.RC0
-#define ENC2_B PORTAbits.RA2
-#define ENC2_NI PORTAbits.RA3
-#define M2_EN PORTBbits.RB5
-#define M2_PWM PORTBbits.RB3
-#define M2_SENS PORTBbits.RB4
+#ifndef KROBOT_2010
+ #define ENC1_A PORTAbits.RA4
+ #define ENC1_B PORTAbits.RA5
+ #define ENC1_NI PORTEbits.RE0
+ #define M1_EN PORTBbits.RB2
+ #define M1_PWM PORTCbits.RC2
+ #define M1_SENS PORTAbits.RA0
+
+ #define ENC2_A PORTCbits.RC0
+ #define ENC2_B PORTAbits.RA2
+ #define ENC2_NI PORTAbits.RA3
+ #define M2_EN PORTBbits.RB5
+ #define M2_PWM PORTBbits.RB3
+ #define M2_SENS PORTBbits.RB4
+#else
+ #define M1_EN PORTBbits.RB2
+ #define M1_PWM PORTCbits.RC2
+ #define M1_INA PORTBbits.RB5
+ #define M1_INB PORTBbits.RB4
+#endif
#define TOR1 PORTDbits.RD6
#define TOR2 PORTDbits.RD7
diff --git a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof
index 9685c05..825d379 100644
Binary files a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof and b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof differ
diff --git a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex
index bae90d2..994e1fc 100644
--- a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex
+++ b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex
@@ -1,933 +1,1028 @@
:020000040000FA
-:0600000071EF1FF0120079
+:060000004FEF22F0120098
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000071EF1FF0120071
-:0608080034EF04F01200C1
-:0608180094EF04F0120051
-:06082A000500793F00000B
-:100830008600000024000000583F0000CB000000AC
-:10084000210000004F3F00001301000009000000DC
-:100850003F3F0000EC00000010000000363F0000A9
-:080860000A010000090000007C
-:08086800DACFE4FFE2CFDAFF72
-:10087000E9CFE4FFEACFE4FFF6CFE4FFF7CFE4FFF0
-:10088000F5CFE4FFF3CFE4FFF4CFE4FFFACFE4FFCA
-:1008900000EE22F0140EE80403E3EECFE4FFFBD7F2
-:1008A00000EE00F0220EE80403E3EECFE4FFFBD7F6
-:1008B0001EEC0DF0A1A203D087EC18F0A1929EAA25
-:1008C00003D039EC13F09E9AF2A403D0C9EC19F0CE
-:1008D000F29431EC0DF002E2E16AE5522FEC0DF0FA
-:1008E000E55200EE21F0220EE80403E3E5CFEDFF30
-:1008F000FBD700EE35F0140EE80403E3E5CFEDFF7F
-:10090000FBD7E5CFFAFFE5CFF4FFE5CFF3FFE5CF67
-:10091000F5FFE5CFF7FFE5CFF6FFE5CFEAFFE5CF3F
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