X-Git-Url: http://git.megacz.com/?p=eltron.git;a=blobdiff_plain;f=src%2Fedu%2Fberkeley%2Fcs%2Fobits%2Fdevice%2Fatmel%2FAvrDrone.c;fp=src%2Fedu%2Fberkeley%2Fcs%2Fobits%2Fdevice%2Fatmel%2FAvrDrone.c;h=0000000000000000000000000000000000000000;hp=0878b4f3bff05d3facd992b8837a08f753b75662;hb=0178b34d5fde3c1cfbc18ae48ec1798b28a1af21;hpb=1d9331b6f051b7aca130f39b7d9fec6332447d81

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