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=2b4fa740269941ca09c0731b49ead0d3bdb54e50;hp=0000000000000000000000000000000000000000;hb=74764ab4cab924eac0a4120cb856be4c0178a9ba;hpb=660c8a0a1c0fdd92aa6e42fea6444e774493868f

diff --git a/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.c b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.c
new file mode 100644
index 0000000..2b4fa74
--- /dev/null
+++ b/src/edu/berkeley/cs/obits/device/atmel/AvrDrone.c
@@ -0,0 +1,159 @@
+//
+// YOU MUST COMPILE THIS WITH -O3 OR THE AVR WILL NOT BE ABLE TO KEEP UP!!!!
+//
+
+#define F_CPU 3960000
+#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;
+}  
+