commit
a1e5c1b312
@ -0,0 +1,55 @@
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# Ignore any backup files.
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*~
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*.bak
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# Ignore kate swap files
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*.kate-swp
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# Ignore any build directories
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_bld
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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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# Junk files
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*.tar
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*.gz
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*.xz
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*.bz2
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*_bld
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avrdude*
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avr-libc*
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binutils*
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gcc*
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gdb*
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simulavr*
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@ -0,0 +1,5 @@
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Bomb robot parameters:
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Cutting range:
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LOWEST: 82mm
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§HIGHEST: 115mm
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@ -0,0 +1,379 @@
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#include <avr/io.h>
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#include <util/delay.h>
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#include <avr/interrupt.h>
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#include <stdlib.h>
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#define DEBOUNCE_COUNT 100
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#define BOMB_COUNTDOWN_TIME 65
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unsigned char displaydata[8] = {' ', ' ', ' ', ' ', ' ', ' ', ' ', ' '}, adress;
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uint8_t debounce[8] = {0,0,0,0,0,0,0,0}; //input debounce
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uint8_t debounced = 0;
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void display_time(int time);
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void display_clear(void);
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void display_update(void);
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void display_send_one(uint8_t address, unsigned char data);
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void shift_send(unsigned char data);
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void mp3_play(uint8_t mp3file);
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void timer_start(void);
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void timer_speed_up(void);
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void timer_pause(void);
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void motor_step_forward(void);
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void motor_step_back(void);
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uint8_t radio_signal(void);
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enum{
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BOMB_DISARMED,
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BOMB_ARMED,
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BOMB_DEFUSED,
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BOMB_EXPLODED
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} bombState;
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//functions for updating the bomb in a given state
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void bomb_logic_disarmed(void);
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void bomb_logic_armed(void); // <-- this will be unique for each bomb
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void bomb_logic_defused(void);
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void bomb_logic_exploded(void);
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//functions for ENTERING a state
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void bomb_logic_disarm(void);
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void bomb_logic_arm(void);
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void bomb_logic_defuse(void);
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void bomb_logic_explode(void);
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//return_data_type function(input_data_type input_variable_local_name)
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//void display_send_one(unsigned char data);
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//PORTD |= 1<<0; //(set D.0) Shifts a one zero steps left
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//PORTD &= ~(1<<0); //(reset D.0) Creates a byte consisting of ones, shifts a zero 0 steps left
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void display_send_one(uint8_t address, unsigned char data) //Send the character 'data' to the display position defined in 'adress'
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{
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address = 7-address;
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PORTD &= 0b10000000; //Clear all data pins
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PORTA &= 0b11111100; //Clear address
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PORTA |= (address & 0b00000011); //set address
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PORTD |= (data & 0b01111111); //Set the 7 bit ASCII output for one character
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_delay_us(5);
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if (address & 0b0000100)
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{
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PORTA &= 0b11111011; //Clock the write pin
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_delay_us(5);
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PORTA |= 0b00000100;
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}
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else
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{
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PORTA &= 0b11110111; //Clock the write pin
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_delay_us(5);
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PORTA |= 0b00001000;
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}
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_delay_us(5);
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}
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void display_update(void) //Send the array displaydata to the display, setting the adress variable to the correct value for each char.
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{
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for (unsigned char i = 0; i < 8; i++)
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{
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display_send_one(i, displaydata[i]);
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}
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}
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void mp3_play(uint8_t mp3file)
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{
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mp3file &= 0b00000111;
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DDRB |= mp3file;
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_delay_ms(40);
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DDRB &=0b11111000;
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}
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void display_clear(void){
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displaydata[0] = ' '; displaydata[1] = ' '; displaydata[2] = ' '; displaydata[3] = ' ';
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displaydata[4] = ' '; displaydata[5] = ' '; displaydata[6] = ' '; displaydata[7] = ' ';
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display_update();
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}
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void display_time(int time) //displays the 'time' given in seconds as MM:SS on the LCD
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{
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uint8_t current_digit = 0;
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//static part of display
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displaydata[0] = ' ';
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displaydata[4] = ':';
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displaydata[7] = ' ';
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//limit to 60:00
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if(time > 3600){
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time = 3600;
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}
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//'-' sign for negative time?
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if(time < 0){
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time *= -1;
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displaydata[1] = '-';
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}else{
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displaydata[1] = ' ';
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}
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//rest of the time
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current_digit = 0;
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while(time>=600){ //tens of minutes
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current_digit += 1;
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time -= 600;
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}
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displaydata[2] = current_digit + '0';
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current_digit = 0;
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while(time>=60){ //minutes
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current_digit += 1;
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time -= 60;
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}
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displaydata[3] = current_digit + '0';
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current_digit = 0;
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while(time>=10){ //tens of seconds
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current_digit += 1;
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time -= 10;
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}
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displaydata[5] = current_digit + '0';
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displaydata[6] = time + '0';
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display_update();
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}
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void timer_start(void){
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//Set up Timer1
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TCCR1B |= (1 << CS10) | (1 << CS12) | (1 << WGM12); //prescaler 1024
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TCNT1 = 0; //zero out timer
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//TIMSK1 |= (1 << OCIE1A); //enable output compare A
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OCR1A = 4040; //output compare A will trigger at approx 1Hz. Callibrated at 5V
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TIMSK1 |= (1 << OCIE1A);
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}
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void timer_speed_up(void){
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TCNT1 = 1700; //set a timer a safe distance away from the trigger point.
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OCR1A = 2020; //output compare A will triger at approx 2Hz. Callibrated at 5V
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}
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void timer_pause(void){
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TCCR1B = 0; //stop timer
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}
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void motor_step_forward(void){
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PORTD &= 0xF0; //PRE-enable zero
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PORTB &= 0b01111111; //enable motor drive
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000001; _delay_us(2000);
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000100; _delay_us(2000);
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000010; _delay_us(2000);
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00001000; _delay_us(2000);
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PORTB |= 0b10000000; //disable motor drive
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}
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void motor_step_back(void){
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PORTD &= 0xF0; //PRE-enable zero
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PORTB &= 0b01111111; //enable motor drive
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00001000; _delay_us(2000);
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000010; _delay_us(2000);
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000100; _delay_us(2000);
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PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000001; _delay_us(2000);
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PORTB |= 0b10000000; //disable motor drive
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}
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uint8_t radio_signal(void){
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return (PINB & 0b01000000);
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}
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//BOMB LOGIC
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int16_t countdown = 65;
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uint8_t armed = 0;
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int main(void)
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{
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DDRA = 0b00001111;
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DDRB = 0b10000000;
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DDRC = 0b10111111;
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DDRD = 0b11111111;
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/*
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D0-D6 data
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D7 CU
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A0-A1 adress
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A2 /Write0
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A3 /Write1
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D0-D3 doubles as motor drive pins
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C0-C5 inputs, C7 input/button
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B0, B1, B2 MP3 playback triggers
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B3 spare MP3 trigger
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B4-B5 NMOS outputs
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B6 Radio remote input
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B7 enable motor drive
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*/
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PORTA |= 0b00000110;
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PORTB = 0b10000000;
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PORTC = 0b10111111;
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PORTD = 0;
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_delay_us(500);
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PORTA &= 0b11111011; //Clock the write pin
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_delay_us(500);
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PORTA |= 0b00000100;
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_delay_us(500);
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PORTA &= 0b11110111; //Clock the write pin
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_delay_us(500);
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PORTA |= 0b00001000;
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_delay_us(500);
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PORTD |= 0b10000000;
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timer_start();
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display_clear();
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sei(); //interrupts enable!
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while(1)
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{
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if(radio_signal()){
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if(bombState == BOMB_DISARMED){bomb_logic_arm();}
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}else{
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if(bombState != BOMB_DISARMED){bomb_logic_disarm();}
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}
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//input debouncing
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for(int i=0; i<8; i++){
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if(PINC & 1<<i){
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if(debounce[i] < DEBOUNCE_COUNT ){
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debounce[i]+=1;
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}
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}else{
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if(debounce[i] > 0){
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debounce[i]-=1;
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}
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}
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if(debounce[i] == DEBOUNCE_COUNT){
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debounced |= 1<<i;
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}
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if(debounce[i] == 0){
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debounced &= ~(1<<i);
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}
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}
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switch(bombState){
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case BOMB_DISARMED:
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bomb_logic_disarmed();
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break;
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case BOMB_ARMED:
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bomb_logic_armed();
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break;
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case BOMB_DEFUSED:
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bomb_logic_defused();
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break;
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case BOMB_EXPLODED:
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bomb_logic_exploded();
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break;
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}
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}
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return 0;
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}
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void bomb_logic_disarm(void){
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bombState = BOMB_DISARMED;
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timer_pause();
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}
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void bomb_logic_disarmed(void){
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displaydata[0] = 'D'; displaydata[1] = 'I'; displaydata[2] = 'S'; displaydata[3] = 'A';
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displaydata[4] = 'R'; displaydata[5] = 'M'; displaydata[6] = 'E'; displaydata[7] = 'D';
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//When disarmed, show the wire status by BIG/SMALL letters
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for(int i=0; i<8; i++){
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if(debounced >> i & 0x01){
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displaydata[i] += 32;
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}
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}
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display_update();
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}
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void bomb_logic_arm(void){
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bombState = BOMB_ARMED;
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countdown = BOMB_COUNTDOWN_TIME;
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display_time(countdown);
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mp3_play(1);
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timer_start();
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}
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void bomb_logic_armed(void){
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if(countdown == 0){
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bomb_logic_explode();
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}
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if(debounced & 0b10000000){
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bomb_logic_defuse();
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}
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if(debounced & 0b00100000){
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bomb_logic_explode();
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}
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}
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void bomb_logic_defuse(void){
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bombState = BOMB_DEFUSED;
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timer_pause();
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displaydata[1] = '[';
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displaydata[7] = ']';
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display_update();
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}
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void bomb_logic_defused(void){
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//not much to do here
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}
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||||
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void bomb_logic_explode(void){
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bombState = BOMB_EXPLODED;
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timer_pause();
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mp3_play(2);
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displaydata[0] = ' '; displaydata[1] = ' '; displaydata[2] = 'B'; displaydata[3] = 'O';
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displaydata[4] = 'O'; displaydata[5] = 'M'; displaydata[6] = ' '; displaydata[7] = ' ';
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display_update();
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}
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||||
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void bomb_logic_exploded(void){
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//BOOM animation.
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//Because of rand(), this takes a LOT of FLASH MEMORY
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//Remove if in need of more PROGRAM space
|
||||
for(int i=2; i<6; i++){
|
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if(rand() > 0x3FFF){
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displaydata[i] |= 0b00100000;
|
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}else{
|
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displaydata[i] &= 0b11011111;
|
||||
}
|
||||
}
|
||||
display_update();
|
||||
_delay_ms(100);
|
||||
//not much to do here
|
||||
//maybe blink an LED or something
|
||||
}
|
||||
|
||||
uint8_t half_second = 0;
|
||||
ISR(TIMER1_COMPA_vect){
|
||||
half_second ^= 0x01; //will be true every other half-second
|
||||
if(half_second){
|
||||
if(countdown>0){countdown -= 1;}
|
||||
display_time(countdown);
|
||||
if(countdown < 10){mp3_play(1);}
|
||||
}else{
|
||||
display_send_one(4, ' ');
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,224 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
|
||||
# AVR-GCC Makefile template, derived from the WinAVR template (which
|
||||
# is public domain), believed to be neutral to any flavor of "make"
|
||||
# (GNU make, BSD make, SysV make)
|
||||
|
||||
|
||||
MCU = attiny88
|
||||
FORMAT = ihex
|
||||
TARGET = main
|
||||
SRC = $(TARGET).c
|
||||
ASRC =
|
||||
OPT = 3
|
||||
|
||||
# Name of this Makefile (used for "make depend").
|
||||
MAKEFILE = Makefile
|
||||
|
||||
# Debugging format.
|
||||
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
|
||||
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
|
||||
DEBUG = stabs
|
||||
|
||||
# Compiler flag to set the C Standard level.
|
||||
# c89 - "ANSI" C
|
||||
# gnu89 - c89 plus GCC extensions
|
||||
# c99 - ISO C99 standard (not yet fully implemented)
|
||||
# gnu99 - c99 plus GCC extensions
|
||||
CSTANDARD = -std=gnu99
|
||||
|
||||
# Place -D or -U options here
|
||||
CDEFS = -DF_CPU=8000000
|
||||
|
||||
# Place -I options here
|
||||
CINCS =
|
||||
|
||||
|
||||
CDEBUG = -g$(DEBUG)
|
||||
CWARN = -Wall -Wstrict-prototypes
|
||||
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
|
||||
# CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
|
||||
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
|
||||
|
||||
|
||||
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
|
||||
|
||||
|
||||
#Additional libraries.
|
||||
|
||||
# Minimalistic printf version
|
||||
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
|
||||
|
||||
# Floating point printf version (requires MATH_LIB = -lm below)
|
||||
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
|
||||
|
||||
PRINTF_LIB =
|
||||
|
||||
# Minimalistic scanf version
|
||||
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
|
||||
|
||||
# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
|
||||
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
|
||||
|
||||
SCANF_LIB =
|
||||
|
||||
MATH_LIB = -lm
|
||||
|
||||
# External memory options
|
||||
|
||||
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
|
||||
# used for variables (.data/.bss) and heap (malloc()).
|
||||
# EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
|
||||
|
||||
# 64 KB of external RAM, starting after internal RAM (ATmega128!),
|
||||
# only used for heap (malloc()).
|
||||
# EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff
|
||||
|
||||
EXTMEMOPTS =
|
||||
|
||||
# LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
|
||||
LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
|
||||
|
||||
|
||||
# Programming support using avrdude. Settings and variables.
|
||||
|
||||
AVRDUDE_PROGRAMMER = usbasp
|
||||
# AVRDUDE_PORT = /dev/term/a
|
||||
|
||||
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex -U lfuse:w:0xEE:m
|
||||
# AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
|
||||
|
||||
|
||||
# Uncomment the following if you want avrdude's erase cycle counter.
|
||||
# Note that this counter needs to be initialized first using -Yn,
|
||||
# see avrdude manual.
|
||||
# AVRDUDE_ERASE_COUNTER = -y
|
||||
|
||||
# Uncomment the following if you do /not/ wish a verification to be
|
||||
# performed after programming the device.
|
||||
# AVRDUDE_NO_VERIFY = -V
|
||||
|
||||
# Increase verbosity level. Please use this when submitting bug
|
||||
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
|
||||
# to submit bug reports.
|
||||
# AVRDUDE_VERBOSE = -v -v
|
||||
|
||||
AVRDUDE_BASIC = -p $(MCU) -c $(AVRDUDE_PROGRAMMER) -B 10
|
||||
# -P $(AVRDUDE_PORT)
|
||||
AVRDUDE_FLAGS = $(AVRDUDE_BASIC) $(AVRDUDE_NO_VERIFY) $(AVRDUDE_VERBOSE) $(AVRDUDE_ERASE_COUNTER)
|
||||
|
||||
|
||||
CC = avr-gcc
|
||||
OBJCOPY = avr-objcopy
|
||||
OBJDUMP = avr-objdump
|
||||
SIZE = avr-size
|
||||
NM = avr-nm
|
||||
AVRDUDE = avrdude
|
||||
REMOVE = rm -f
|
||||
MV = mv -f
|
||||
|
||||
# Define all object files.
|
||||
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)
|
||||
|
||||
# Define all listing files.
|
||||
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst)
|
||||
|
||||
# Combine all necessary flags and optional flags.
|
||||
# Add target processor to flags.
|
||||
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
|
||||
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
|
||||
|
||||
|
||||
# Default target.
|
||||
all: build
|
||||
|
||||
build: elf hex eep
|
||||
|
||||
elf: $(TARGET).elf
|
||||
hex: $(TARGET).hex
|
||||
eep: $(TARGET).eep
|
||||
lss: $(TARGET).lss
|
||||
sym: $(TARGET).sym
|
||||
|
||||
|
||||
# Program the device.
|
||||
program: $(TARGET).hex $(TARGET).eep
|
||||
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
|
||||
|
||||
|
||||
|
||||
|
||||
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
|
||||
COFFCONVERT=$(OBJCOPY) --debugging \
|
||||
--change-section-address .data-0x800000 \
|
||||
--change-section-address .bss-0x800000 \
|
||||
--change-section-address .noinit-0x800000 \
|
||||
--change-section-address .eeprom-0x810000
|
||||
|
||||
|
||||
coff: $(TARGET).elf
|
||||
$(COFFCONVERT) -O coff-avr $(TARGET).elf $(TARGET).cof
|
||||
|
||||
|
||||
extcoff: $(TARGET).elf
|
||||
$(COFFCONVERT) -O coff-ext-avr $(TARGET).elf $(TARGET).cof
|
||||
|
||||
|
||||
.SUFFIXES: .elf .hex .eep .lss .sym
|
||||
|
||||
.elf.hex:
|
||||
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
|
||||
|
||||
.elf.eep:
|
||||
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
|
||||
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
|
||||
|
||||
# Create extended listing file from ELF output file.
|
||||
.elf.lss:
|
||||
$(OBJDUMP) -h -S $< > $@
|
||||
|
||||
# Create a symbol table from ELF output file.
|
||||
.elf.sym:
|
||||
$(NM) -n $< > $@
|
||||
|
||||
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
$(TARGET).elf: $(OBJ)
|
||||
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
|
||||
|
||||
|
||||
# Compile: create object files from C source files.
|
||||
.c.o:
|
||||
$(CC) -c $(ALL_CFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Compile: create assembler files from C source files.
|
||||
.c.s:
|
||||
$(CC) -S $(ALL_CFLAGS) $< -o $@
|
||||
|
||||
|
||||
# Assemble: create object files from assembler source files.
|
||||
.S.o:
|
||||
$(CC) -c $(ALL_ASFLAGS) $< -o $@
|
||||
|
||||
|
||||
|
||||
# Target: clean project.
|
||||
clean:
|
||||
$(REMOVE) $(TARGET).hex $(TARGET).eep $(TARGET).cof $(TARGET).elf \
|
||||
$(TARGET).map $(TARGET).sym $(TARGET).lss \
|
||||
$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d)
|
||||
|
||||
depend:
|
||||
if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
|
||||
then \
|
||||
sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
|
||||
$(MAKEFILE).$$$$ && \
|
||||
$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
|
||||
fi
|
||||
echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
|
||||
>> $(MAKEFILE); \
|
||||
$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE)
|
||||
|
||||
.PHONY: all build elf hex eep lss sym program coff extcoff clean depend
|
||||
Loading…
Reference in new issue