Initial commit with code that mostly works.

.gitignore

@@ -0,0 +1,55 @@
+# Ignore any backup files.
+*~
+*.bak
+
+# Ignore kate swap files
+*.kate-swp
+
+# Ignore any build directories
+_bld
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Junk files
+*.tar
+*.gz
+*.xz
+*.bz2
+*_bld
+avrdude*
+avr-libc*
+binutils*
+gcc*
+gdb*
+simulavr*

Bomb robot parameters.txt

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+Bomb robot parameters:
+
+Cutting range:
+	LOWEST: 82mm
+	§HIGHEST: 115mm

main.c

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+#include <avr/io.h>
+#include <util/delay.h>
+#include <avr/interrupt.h>
+#include <stdlib.h>
+
+#define DEBOUNCE_COUNT 100
+#define BOMB_COUNTDOWN_TIME 65
+
+unsigned char displaydata[8] = {' ', ' ', ' ', ' ', ' ', ' ', ' ', ' '}, adress;
+uint8_t debounce[8] = {0,0,0,0,0,0,0,0}; //input debounce 
+uint8_t debounced = 0;
+
+
+
+void display_time(int time);
+void display_clear(void);
+
+void display_update(void);
+void display_send_one(uint8_t address, unsigned char data);
+void shift_send(unsigned char data);
+
+void mp3_play(uint8_t mp3file);
+void timer_start(void);
+void timer_speed_up(void);
+void timer_pause(void);
+
+void motor_step_forward(void);
+void motor_step_back(void);
+
+uint8_t radio_signal(void);
+
+enum{
+    BOMB_DISARMED,
+    BOMB_ARMED,
+    BOMB_DEFUSED,
+    BOMB_EXPLODED
+} bombState;
+
+//functions for updating the bomb in a given state
+void bomb_logic_disarmed(void);
+void bomb_logic_armed(void); //  <-- this will be unique for each bomb
+void bomb_logic_defused(void);
+void bomb_logic_exploded(void);
+
+//functions for ENTERING a state
+void bomb_logic_disarm(void);
+void bomb_logic_arm(void);
+void bomb_logic_defuse(void);
+void bomb_logic_explode(void);
+
+//return_data_type function(input_data_type    input_variable_local_name)
+//void display_send_one(unsigned char data);
+//PORTD |= 1<<0; //(set D.0) Shifts a one zero steps left
+//PORTD &= ~(1<<0); //(reset D.0) Creates a byte consisting of ones, shifts a zero 0 steps left
+
+void display_send_one(uint8_t address, unsigned char data) //Send the character 'data' to the display position defined in 'adress'
+{
+	address = 7-address;
+	PORTD &= 0b10000000;  //Clear all data pins
+	PORTA &= 0b11111100;  //Clear address
+	PORTA |= (address & 0b00000011); //set address
+	PORTD |= (data & 0b01111111); //Set the 7 bit ASCII output for one character
+	_delay_us(5);
+	if (address & 0b0000100)
+	{
+		PORTA &= 0b11111011; //Clock the write pin
+		_delay_us(5);
+		PORTA |= 0b00000100;
+	}
+	else
+	{
+		PORTA &= 0b11110111; //Clock the write pin
+		_delay_us(5);
+		PORTA |= 0b00001000;
+	}
+	_delay_us(5);
+}
+
+void display_update(void) //Send the array displaydata to the display, setting the adress variable to the correct value for each char.
+{
+	for (unsigned char i = 0; i < 8; i++)
+	{
+		display_send_one(i, displaydata[i]);
+	}
+}
+
+
+void mp3_play(uint8_t mp3file)
+{
+	mp3file &= 0b00000111;
+	DDRB |= mp3file;
+	_delay_ms(40);
+	DDRB &=0b11111000;
+}
+
+
+void display_clear(void){
+	displaydata[0] = ' '; displaydata[1] = ' '; displaydata[2] = ' '; displaydata[3] = ' ';
+	displaydata[4] = ' '; displaydata[5] = ' '; displaydata[6] = ' '; displaydata[7] = ' ';
+	display_update();
+}
+
+void display_time(int time) //displays the 'time' given in seconds as MM:SS on the LCD
+{ 
+	uint8_t current_digit = 0;
+
+	//static part of display
+	displaydata[0] = ' ';
+	displaydata[4] = ':';
+	displaydata[7] = ' ';
+
+	//limit to 60:00
+	if(time > 3600){
+		time = 3600;
+	}
+
+	//'-' sign for negative time?
+	if(time < 0){
+		time *= -1;
+		displaydata[1] = '-';
+	}else{
+		displaydata[1] = ' ';
+	}
+
+	//rest of the time
+	current_digit = 0;
+	while(time>=600){ //tens of minutes
+		current_digit += 1;
+		time -= 600;
+	}
+	displaydata[2] = current_digit + '0';
+
+	current_digit = 0;
+	while(time>=60){ //minutes
+		current_digit += 1;
+		time -= 60;
+	}
+	displaydata[3] = current_digit + '0';
+
+	current_digit = 0;
+	while(time>=10){ //tens of seconds
+		current_digit += 1;
+		time -= 10;
+	}
+	displaydata[5] = current_digit + '0';
+
+
+	displaydata[6] = time + '0';
+
+	display_update();	
+}
+
+void timer_start(void){
+	//Set up Timer1
+	TCCR1B |= (1 << CS10) | (1 << CS12) | (1 << WGM12); //prescaler 1024
+	TCNT1 = 0; //zero out timer
+	//TIMSK1 |= (1 << OCIE1A); //enable output compare A
+	OCR1A = 4040; //output compare A will trigger at approx 1Hz. Callibrated at 5V
+	TIMSK1 |= (1 << OCIE1A);
+}
+
+void timer_speed_up(void){
+	TCNT1 = 1700; //set a timer a safe distance away from the trigger point.
+	OCR1A = 2020; //output compare A will triger at approx 2Hz. Callibrated at 5V
+}
+
+void timer_pause(void){
+	TCCR1B = 0; //stop timer
+}
+
+
+void motor_step_forward(void){
+	PORTD &= 0xF0; //PRE-enable zero
+	PORTB &= 0b01111111; //enable motor drive
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000001; _delay_us(2000);
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000100; _delay_us(2000);
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000010; _delay_us(2000);
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00001000; _delay_us(2000);
+	PORTB |= 0b10000000; //disable motor drive
+}
+
+void motor_step_back(void){
+	PORTD &= 0xF0; //PRE-enable zero
+	PORTB &= 0b01111111; //enable motor drive
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00001000; _delay_us(2000);
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000010; _delay_us(2000);
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000100; _delay_us(2000);
+	PORTD &= 0xF0; _delay_us(50); PORTD |= 0b00000001; _delay_us(2000);
+	PORTB |= 0b10000000; //disable motor drive
+}
+
+
+uint8_t radio_signal(void){
+	return (PINB & 0b01000000);
+}
+
+//BOMB LOGIC 
+int16_t countdown = 65;
+uint8_t armed = 0;
+
+int main(void)
+{
+	DDRA = 0b00001111;
+	DDRB = 0b10000000;
+	DDRC = 0b10111111;
+	DDRD = 0b11111111;
+/*
+D0-D6 data
+D7 CU
+A0-A1 adress
+A2 /Write0
+A3 /Write1
+
+D0-D3 doubles as motor drive pins
+
+C0-C5 inputs, C7 input/button
+B0, B1, B2 MP3 playback triggers
+B3 spare MP3 trigger
+B4-B5 NMOS outputs
+B6 Radio remote input
+B7 enable motor drive
+*/
+	PORTA |= 0b00000110;
+	PORTB = 0b10000000;
+	PORTC = 0b10111111;
+	PORTD = 0;
+	_delay_us(500);
+	PORTA &= 0b11111011; //Clock the write pin
+	_delay_us(500);
+	PORTA |= 0b00000100;
+	_delay_us(500);
+	PORTA &= 0b11110111; //Clock the write pin
+	_delay_us(500);
+	PORTA |= 0b00001000;
+	_delay_us(500);
+	PORTD |= 0b10000000;
+
+	timer_start();
+	display_clear();
+	
+	sei(); //interrupts enable!
+
+	while(1)
+	{
+		if(radio_signal()){
+			if(bombState == BOMB_DISARMED){bomb_logic_arm();}
+		}else{
+			if(bombState != BOMB_DISARMED){bomb_logic_disarm();}	
+		}
+		
+		//input debouncing
+		for(int i=0; i<8; i++){
+			if(PINC & 1<<i){
+				if(debounce[i] < DEBOUNCE_COUNT ){
+					debounce[i]+=1;
+				}
+			}else{
+				if(debounce[i] > 0){
+					debounce[i]-=1;
+				}
+			}
+			if(debounce[i] == DEBOUNCE_COUNT){
+				debounced |= 1<<i;
+			}
+			if(debounce[i] == 0){
+				debounced &= ~(1<<i);
+			}
+		}
+
+		switch(bombState){
+			case BOMB_DISARMED:
+				bomb_logic_disarmed();
+				break;
+
+			case BOMB_ARMED:
+				bomb_logic_armed();
+				break;
+
+			case BOMB_DEFUSED:
+				bomb_logic_defused();
+				break;
+
+			case BOMB_EXPLODED:
+				bomb_logic_exploded();
+				break;
+		}
+	}
+	return 0;
+}
+
+void bomb_logic_disarm(void){
+	bombState = BOMB_DISARMED;
+	timer_pause();
+}
+
+void bomb_logic_disarmed(void){
+	displaydata[0] = 'D'; displaydata[1] = 'I'; displaydata[2] = 'S'; displaydata[3] = 'A';
+	displaydata[4] = 'R'; displaydata[5] = 'M'; displaydata[6] = 'E'; displaydata[7] = 'D';
+	//When disarmed, show the wire status by BIG/SMALL letters
+	for(int i=0; i<8; i++){
+		if(debounced >> i & 0x01){
+			displaydata[i] += 32;
+		}
+	}
+	display_update();
+}
+
+void bomb_logic_arm(void){
+	bombState = BOMB_ARMED;
+	countdown = BOMB_COUNTDOWN_TIME;
+	display_time(countdown);
+	mp3_play(1);
+	timer_start();
+}
+
+void bomb_logic_armed(void){
+	if(countdown == 0){
+		bomb_logic_explode();
+	}
+
+	if(debounced & 0b10000000){
+		bomb_logic_defuse();
+	}
+
+	if(debounced & 0b00100000){
+		bomb_logic_explode();
+	}
+}
+
+
+void bomb_logic_defuse(void){
+	bombState = BOMB_DEFUSED;
+	timer_pause();
+	displaydata[1] = '[';
+	displaydata[7] = ']';
+	display_update();
+}
+
+void bomb_logic_defused(void){
+	//not much to do here
+}
+
+void bomb_logic_explode(void){
+	bombState = BOMB_EXPLODED;
+	timer_pause();
+	mp3_play(2);
+	displaydata[0] = ' '; displaydata[1] = ' '; displaydata[2] = 'B'; displaydata[3] = 'O';
+	displaydata[4] = 'O'; displaydata[5] = 'M'; displaydata[6] = ' '; displaydata[7] = ' ';
+	display_update();
+}
+
+void bomb_logic_exploded(void){
+	//BOOM animation.
+	//Because of rand(), this takes a LOT of FLASH MEMORY
+	//Remove if in need of more PROGRAM space
+	for(int i=2; i<6; i++){
+		if(rand() > 0x3FFF){
+			displaydata[i] |= 0b00100000;
+		}else{
+			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, ' ');
+	}
+}

makefile

@@ -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