cleanup

[eltron.git] / src / edu / berkeley / cs / obits / device / atmel / AvrDrone.c

diff --git a/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.c b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.c
deleted file mode 100644 (file)
index 0878b4f..0000000
--- a/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.c
+++ /dev/null
@@ -1,160 +0,0 @@
-//\r
-// YOU MUST COMPILE THIS WITH -O3 OR THE AVR WILL NOT BE ABLE TO KEEP UP!!!!\r
-//\r
-\r
-#define F_CPU 3960000\r
-#define __AVR_AT94K__\r
-#include <avr/wdt.h>\r
-#include <avr/delay.h>\r
-#include <avr/io.h>\r
-#include <avr/signal.h>\r
-#include <avr/interrupt.h>\r
-\r
-unsigned char val = 0;\r
-\r
-volatile unsigned char dataReady = 0;\r
-volatile unsigned char data = 0;\r
-\r
-void initUART1(unsigned int baudRate, unsigned int doubleRate) {\r
-  UBRRHI = (((baudRate) >> 8) & 0x000F); \r
-  UBRR1  = ((baudRate) & 0x00FF); \r
-  UCSR1B |= ((1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1)); \r
-  /*\r
-  if (doubleRate)\r
-    UCSR1A |= (1 << U2X1);\r
-  else\r
-    UCSR1A &= ~(1 << U2X1);\r
-  */\r
-}\r
-\r
-#define BUFSIZE (1024 *2)\r
-static char buf[BUFSIZE];\r
-volatile static int head = 0;\r
-volatile static int tail = 0;\r
-\r
-void send(char c) {\r
-  while(!(UCSR1A & (1 << UDRE1)));           /* Wait for data Regiester to be empty */\r
-  UDR1 = (int)c;\r
-}\r
-\r
-inline void portd(int bit, int on) {\r
-  if (on) {\r
-    PORTD &= ~(1<<bit);\r
-  } else {\r
-    PORTD |= (1<<bit);\r
-  }\r
-}\r
-inline void cts(int c) {\r
-  if (c) {\r
-    PORTE &= ~(1 << 4);\r
-    portd(0, 1);\r
-  } else {\r
-    PORTE |= (1 << 4);\r
-    portd(0, 0);\r
-  }\r
-}\r
-\r
-inline int inc(int x) { x++; if (x>=BUFSIZE) x=0; return x; }\r
-inline int full() { return inc(tail)==head; }\r
-inline int nearlyFull() {\r
-  if (tail==head) return 0;\r
-  if (tail < head) return (head-tail) < (BUFSIZE/2);\r
-  return (tail-head) > (BUFSIZE/2);\r
-}\r
-inline int empty() { return head==tail; }\r
-\r
-inline char recv() {\r
-  int q;\r
-  char ret;\r
-  while(empty()) cts(1);\r
-  ret = buf[head];\r
-  head = inc(head);\r
-  if (!nearlyFull()) cts(0);\r
-  return ret;\r
-}\r
-\r
-void init() {\r
-  EIMF  = 0xFF;                          /* Enalbe External Interrrupt*/  \r
-  DDRD = 0xFF;                           /* Configure PORTD as Output */\r
-  DDRE = 1 << 4;                         /* ability to write to E */\r
-  initUART1(1, 0);\r
-  SREG |= 0x80;\r
-  sei();\r
-}\r
-\r
-void conf(int z, int y, int x, int d) {\r
-  FPGAX = x;\r
-  FPGAY = y;\r
-  FPGAZ = z;\r
-  FPGAD = d;\r
-}\r
-\r
-void doreset() {\r
-  int i;\r
-  for(i=0; i<5; i++) {\r
-    PORTD = ~0x01;\r
-    _delay_ms(50);\r
-    PORTD = ~0x02;\r
-    _delay_ms(50);\r
-    PORTD = ~0x04;\r
-    _delay_ms(50);\r
-    PORTD = ~0x08;\r
-    _delay_ms(50);\r
-  }\r
-  PORTD = ~0x00;\r
-  wdt_enable(WDTO_250MS);\r
-  while(1) { }\r
-}\r
-\r
-SIGNAL(SIG_INTERRUPT1) {\r
-  doreset();\r
-}\r
-\r
-void die() { cli(); cts(0); _delay_ms(2000); while(1) { } }\r
-SIGNAL(SIG_UART1_RECV) {\r
-  if (UCSR1A & (1 << FE1))   { portd(2,0); portd(3,1); die(); }  // framing error, lock up with LED=01\r
-  if ((UCSR1A & (1 << OR1))) { portd(2,1); portd(3,0); die(); }  // overflow; lock up with LED=10\r
-  if (full())                { portd(2,1); portd(3,1); die(); }  // buffer overrun\r
-  buf[tail] = UDR1;\r
-  tail = inc(tail);\r
-  SREG |= 0x80;\r
-  sei();\r
-  if (nearlyFull()) cts(0);\r
-}\r
-\r
-inline int hex(char c) {\r
-  if (c >= '0' && c <= '9') return (c - '0');\r
-  if (c >= 'a' && c <= 'f') return ((c - 'a') + 0xa);\r
-  if (c >= 'A' && c <= 'F') return ((c - 'A') + 0xa);\r
-  return -1;\r
-}\r
-\r
-int main() {\r
-  int count;\r
-  init();\r
-  cts(0);\r
-  send('O');\r
-  send('B');\r
-  send('I');\r
-  send('T');\r
-  send('S');\r
-  send('\n');\r
-  cts(1);\r
-  for(;;) {\r
-    int i, x=0, y=0, z=0, d=0;\r
-    switch(recv()) {\r
-      case 1:\r
-        z = recv();\r
-        y = recv();\r
-        x = recv();\r
-        d = recv();\r
-        portd(1,1);\r
-        conf(z, y, x, d);\r
-        portd(1,0);\r
-        break;\r
-      default: die();\r
-    }\r
-  }\r
-  return 0;\r
-}  \r
-\r