2 programmierfragen

ja, so ollte das sein... probiere das nochmal... oder öffne die asuro.c, und poste mal alle funktionen die mit SIGNAL anfangen

ich weiß niocht genau was gemeint ist, deshalb schreib ich einfach das ganze hier rein

Code:

---

/*!
 * \file asuro.c
 * \brief Die ASURO Bibliothek
 *
 * $Revision: 2.60 $
 * $Date: 27. September 2005 $
 * $Author: Jan Grewe, Robotrixer, Waste, Stochri, Andun, m.a.r.v.i.n $
 *
 */

/*******************************************************************************
*
* File Name:  asuro.c
* Project  :  ASURO
*
* Description: This file contains ASURO main features
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------
* 1.00          14.08.2003  Jan Grewe        build
* 2.00    14.10.2003  Jan Grewe        LEFT_VEL, RIGHT_VEL -> MotorSpeed(unsigned char left_speed, unsigned char right_speed);
*                                        LeftRwd(),LeftFwd(),RightRwd(),
*                                        RigthFwd() -> MotorDir(unsigned char left_dir, unsigned char right_dir);
*                                        GREEN_ON,GREEN_OFF,RED_ON,RED_OFF -> StatusLED(unsigned char color);
*                                        LED_RED_ON, LED_RED_OFF -> FrontLED(unsigned char color);
*                                        Blink(unsigned char left, unsigned char right) -> BackLED(unsigned char left, unsigned char right);
*                                        Alles in Funktionen gefasst => leichter verständlich ?!?!
* 2.10    17.10.2003  Jan Grewe        new Timer funktion void Sleep(unsigned char time36kHz) 
*
* Copyright (c) 2003 DLR Robotics & Mechatronics
*****************************************************************************/
/****************************************************************************
*
* File Name:  asuro.c
* Project  :  asuro library "Robotrixer Buxtehude"
*
* Description: This file contains additional functions:
*
* signal (SIG_ADC)                interrupt/signal routine for encoder-counter
* signal (SIG_INTERRUPT1)          signal for switches
* Encoder_Init()                  initializing encoder-counter
* Encoder_Start()                  start autoencoding
* Encoder_Stop()                  stop autoencoding
* Encoder_Set(int,int)            set encodervalue
* Msleep(int delay)                wait for delay in milliseconds
* Gettime()                        get systemtime in milliseconds
* PrintInt(int)
*
* modifications in Sleep, SIG_OUTPUT_COMPARE2, PollSwitch, LineData
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------
* beta1          31.03.2005  Robotrixer        asuro library
* -------  ----------  --------------  ------------------------------
* the encoder source is based on RechteckDemo.c ver 2.0 by Jan Grewe 22.10.2003
* Copyright (c) 2003 DLR Robotics & Mechatronics

*****************************************************************************/
/****************************************************************************
*
* File Name:  asuro.c
* Project  :  asuro library modified for IR collision detector
*
* Description: modifications made in following functions:
*
* SIGNAL (SIG_OUTPUT_COMPARE2)        ->        SIGNAL (SIG_OVERFLOW2)
* Gettime()                                counts now 36kHz
* Init()                                timer2 modified for adjustable duty cycle
* Batterie()                                bug fixed
* Sleep()                                counts now 36kHz
* Msleep()                                counts now 36kHz
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------
* beta2          11.06.2005  Waste            asuro library
* -------  ----------  --------------  ------------------------------
*****************************************************************************/
/****************************************************************************
*
* File Name:  asuro.c
* Project  :  asuro library
*
* Description: This file contains additional functions:
*
* motor control functions 29.7.2005 stochri
* void Go(int distance)
* void Turn(int degree)
*
* unsigned char Wheelspeed[2]                measured Wheelspeed by interupt
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------------------
* sto1    29.07.2005  stochri                asuro library with motor control functions
* -------  ----------  --------------  ------------------------------------------
*****************************************************************************/
/****************************************************************************
*
* File Name:  asuro.c
* Project  :  asuro library
*
* Description: modifications made in following functions:
*
* void Go(int distance, int speed)
* void Turn(int degree, int speed)
*
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------------------
* And1    31.07.2005  Andun                Added Speed and Odometrie
* -------  ----------  --------------  ------------------------------------------
*****************************************************************************/
/****************************************************************************
*
* File Name:  asuro.c
* Project  :  asuro library
*
* Description: modifications made in following functions:
*
* void PrintInt(int wert)
*
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------------------
* 2.60    28.09.2005  m.a.r.v.i.n      doxygen comments
* -------  ----------  --------------  ------------------------------------------
*****************************************************************************/
/****************************************************************************
*
* File Name:  asuro.c
* Project  :  asuro library
*
* Description: modifications made in following functions:
*
* SIGNAL (SIG_ADC)
* void PrintInt(int wert)
*
*
* Ver.    Date        Author          Comments
* -------  ----------  --------------  ------------------------------------------
* 2.61    20.11.2006  m.a.r.v.i.n      SIGNAL (SIG_ADC): static Variable toggle initialisiert
*                                        auf False (Bug report von Rolf_Ebert)
*                                        PrintInt: Initialisierung text String kann zu Fehler
*                                        beim Flashen mit RS232/IR Adapter fuehren
*                                        (Bug report von francesco)
* -------  ----------  --------------  ------------------------------------------
*****************************************************************************/
/***************************************************************************
*                                                                        *
*  This program is free software; you can redistribute it and/or modify  *
*  it under the terms of the GNU General Public License as published by  *
*  the Free Software Foundation; either version 2 of the License, or    *
*  any later version.                                                    *
***************************************************************************/

#include "asuro.h"
#include "string.h"

/*! \brief Counter fuer 36kHz.\n
 *  Wird in derInterrupt Funktion SIG_OVERFLOW2 hochgezaehlt\n
 *  und in der Sleep() Funktion abgefragt.
 *  \see Sleep
 */
volatile unsigned char count36kHz;       
/*! \brief Sytemzeit.\n
 *  Wird in der Interrupt Funktion SIG_OVERFLOW2 hochgezaehlt\n
 *  und in der Gettime() Funktion verwendet.
 *  \see Gettime
 */
volatile unsigned long timebase;
/*! \brief Odometrie Sensor Abfrage im Interrupt Betrieb.\n
 *  Wird in der Interrupt Funktion SIG_ADC abgefragt,\n
 *  in der Encoder_Init() und Encoder_Start() Funktion gesetzt\n
 *  und in der Encoder_Stop() Funktion geloescht .
 *  \see Encoder_Init, Encoder_Start, Encoder_Stop
 */
volatile int autoencode=FALSE;

/*!
 * \func SIG_OVERFLOW2
 * \brief Interrupt Funktion: Timer2 Overflow
 * uses timer2 (36kHz for IR communication)
 */
SIGNAL (SIG_OVERFLOW2)
{
        TCNT2 += 0x25;
        count36kHz ++;
        if (!count36kHz) timebase ++;
}

/*!
 * \func SIG_INTERRUPT1
 * \brief Interrupt Funktion: INT1 
 */
SIGNAL (SIG_INTERRUPT1)
{
        switched=1;
        StopSwitch();
}

/*!
 * \func SIG_ADC
 * \brief Interrupt Funktion: A/D Wandler
 *        last modification:
 *        Ver.    Date        Author          Comments
 *        -------  ----------  --------------  ---------------------------------
 *        2.61    20.11.2006  m.a.r.v.i.n      static Variable toggle initialisiert
 *                                                auf False (Bug report von Rolf_Ebert)
 *
 *
 */
SIGNAL (SIG_ADC)
{
        static unsigned char tmp[2],flag[2],toggle=FALSE;
        if (autoencode){
        tmp[toggle]= ADCH;
        if (toggle)        ADMUX = (1 <<ADLAR) | (1 <<REFS0) | WHEEL_RIGHT;
        else ADMUX = (1 <<ADLAR) | (1 <<REFS0) | WHEEL_LEFT;

        if ( (tmp[toggle] < 140) && (flag[toggle] == TRUE)) {
                encoder[toggle] ++;
                flag[toggle] = FALSE;
        }
        if ( (tmp[toggle] > 160) && (flag[toggle] == FALSE)) {
                encoder[toggle] ++;
                flag[toggle] = TRUE;
        }
        toggle ^= 1;
}}
// neue Zeitfunktion
unsigned long Gettime(void)
{
        return ((timebase*256)+count36kHz)/36;
}

/* Init function Processor will be initalized to work correctly */
void Init (void)
{
        //-------- seriell interface programmed in boot routine and already running -------
        //  prepare 36kHz for IR - Communication
        TCCR2 = (1 << WGM20) | (1 << WGM21) | (1 << COM20) | (1 << COM21) | (1 << CS20);
        OCR2  = 0x91; // duty cycle for 36kHz
        TIMSK |= (1 << TOIE2); // 36kHz counter for sleep
       
        // prepare RS232
        UCSRA = 0x00;
        UCSRB = 0x00;       
        UCSRC = 0x86; // No Parity | 1 Stop Bit | 8 Data Bit
        UBRRL = 0xCF; // 2400bps @ 8.00MHz
       
        // I/O Ports
        DDRB = IRTX | LEFT_DIR | PWM | GREEN_LED;
        DDRD = RIGHT_DIR | FRONT_LED | ODOMETRIE_LED | RED_LED;
       
        // for PWM (8-Bit PWM) on OC1A & OC1B
        TCCR1A = (1 << WGM10) | (1 << COM1A1) | (1 << COM1B1);
        // tmr1 running on MCU clock/8
        TCCR1B = (1 << CS11);
       
        // A/D Conversion
        ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // clk/64
        ODOMETRIE_LED_OFF;

        FrontLED(OFF);
        BackLED(ON,ON);
        BackLED(OFF,OFF);
        StatusLED(GREEN);
       
        MotorDir(FWD,FWD);
        MotorSpeed(0,0);
        sei();
}

/* Set motor speed */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed)
{
        OCR1A = left_speed;
        OCR1B = right_speed;
}

/* Set motor direction */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir)
{
        PORTD = (PORTD &~ ((1 << PD4) | (1 << PD5))) | left_dir;
        PORTB = (PORTB &~ ((1 << PB4) | (1 << PB5))) | right_dir;
}

/* Status LED (OFF,GREEN,YELLOW,RED)*/
/* example code set StatusLED GREEN */
/* StatusLED(GREEN); */
inline void StatusLED(unsigned char color)
{
        if (color == OFF)    {GREEN_LED_OFF; RED_LED_OFF;}
        if (color == GREEN)  {GREEN_LED_ON; RED_LED_OFF;}
        if (color == YELLOW) {GREEN_LED_ON; RED_LED_ON;}
        if (color == RED)    {GREEN_LED_OFF; RED_LED_ON;}
}

/* Front LED */
/* example code FrontLED ON */
/* FrontLED(ON); */
inline void FrontLED(unsigned char status)
{
        PORTD = (PORTD &~(1 << PD6)) | (status << PD6);
}

/* function for Break LEDs */
/* example code right LED On left LED Off */
/* BackLED(OFF,ON); */
void BackLED(unsigned char left, unsigned char right)
{
        if (left || right) {
                PORTD &= ~(1 << PD7); // Wheel LED OFF
                DDRC |= (1 << PC0) | (1 << PC1); // Output => no odometrie
                PORTC |= (1 << PC0) | (1 << PC1);
        }
        if (!left) PORTC &= ~(1 << PC1);
        if (!right) PORTC &= ~(1 << PC0);
}
int  Batterie(void)
{
        ADMUX = (1 << REFS0) | (1 << REFS1) | BATTERIE;        // internal 2.56V reference with external capacitor
        ADCSRA |= (1 << ADSC);                        // Start conversion
        while (!(ADCSRA & (1 << ADIF)));        // wait for conversion complete
        ADCSRA |= (1 << ADIF);                        // clear ADCIF
        return ADCL + (ADCH << 8);
}
/* function to read out line follow phototransistors (left,rigth) */
void LineData(unsigned int *data)
{       
        int ec_bak=autoencode;
        autoencode=FALSE;

        ADMUX = (1 << REFS0) | IR_LEFT;        // AVCC reference with external capacitor
        Sleep(10);
        ADCSRA |= (1 << ADSC);                        // Start conversion
        while (!(ADCSRA & (1 << ADIF)));        // wait for conversion complete
        ADCSRA |= (1 << ADIF);                        // clear ADCIF
        data[0] = ADCL + (ADCH << 8);
       
        ADMUX = (1 << REFS0) | IR_RIGHT;        // AVCC reference with external capacitor
        Sleep(10);
        ADCSRA |= (1 << ADSC);                        // Start conversion
        while (!(ADCSRA & (1 << ADIF)));        // wait for conversion complete
        ADCSRA |= (1 << ADIF);                        // clear ADCIF
        data[1] = ADCL + (ADCH << 8);
       
        autoencode=ec_bak;
}

/* function to read out odometrie phototransistors (left,rigth) */
void OdometrieData(unsigned int *data)
{
        DDRC &= ~((1 << PC0) | (1 << PC1)); // Input => no break LED
        ODOMETRIE_LED_ON;
       
        ADMUX = (1 << REFS0) | WHEEL_LEFT; // AVCC reference with external capacitor
        ADCSRA |= (1 << ADSC);                        // Start conversion
        while (!(ADCSRA & (1 << ADIF)));        // wait for conversion complete
        ADCSRA |= (1 << ADIF);                        // clear ADCIF
        data[0] = ADCL + (ADCH << 8);
       
        ADMUX = (1 << REFS0) | WHEEL_RIGHT; // AVCC reference with external capacitor
        ADCSRA |= (1 << ADSC);                        // Start conversion
        while (!(ADCSRA & (1 << ADIF)));        // wait for conversion complete
        ADCSRA |= (1 << ADIF);                        // clear ADCIF
        data[1] = ADCL + (ADCH << 8);
}

/* function for serial communication */
void SerWrite(unsigned char *data,unsigned char length)
{
        unsigned char i = 0;
        UCSRB = 0x08; // enable transmitter
        while (length > 0) {
                if (UCSRA & 0x20) { // wait for empty transmit buffer
                        UDR = data[i++];
                        length --;
                }
        }
        while (!(UCSRA & 0x40));
        for (i = 0; i < 0xFE; i++)
                for(length = 0; length < 0xFE; length++);
}

void SerRead(unsigned char *data, unsigned char length,unsigned int timeout)
{
        unsigned char i = 0;
        unsigned int  time = 0;
        UCSRB = 0x10; // enable receiver
        /* non blocking */
        if (timeout != 0) {
                while (i < length && time++ < timeout) {
                        if (UCSRA & 0x80) {
                                data[i++] = UDR;
                                time = 0;
                        }
                }
                if (time > timeout) data[0] = 'T';
        }
        /* blocking */
        else {
                while (i < length) {
                        if (UCSRA & 0x80)
                                data[i++] = UDR;
                }
        }       
}

/* function to read out switches */
unsigned char PollSwitch (void)
{
        unsigned int i;
        int ec_bak=autoencode;
        autoencode=FALSE;
        DDRD |= SWITCHES;                                // Switches as Output
        SWITCH_ON;                                                // Output HIGH for measurement
        ADMUX = (1 << REFS0) | SWITCH;        // AVCC reference with external capacitor
        Sleep(10);
       
        ADCSRA |= (1 << ADSC);                        // Start conversion
        while (!(ADCSRA & (1 << ADIF)));// wait for conversion complete
        ADCSRA |= (1 << ADIF);                        // clear ADCIF
        i = ADCL + (ADCH << 8);
       
        SWITCH_OFF;
        Sleep(5);
        autoencode=ec_bak;
        //return  ((unsigned char) ((( 1024.0/(float)i - 1.0)) * 61.0 + 0.5));
        return ((10240000L/(long)i-10000L)*61L+5000L)/10000;
}

/* for working with Interrupt */
void StartSwitch(void)
{
        SWITCH_OFF;
        DDRD &= ~SWITCHES;                                        // Switches as Input => ext. Int 1
        MCUCR &= ~((1 << ISC11) | (1 << ISC10));// Low level generates interrupt
        GICR |= (1 << INT1);                                        // Enable external Interrupt 1
}

void StopSwitch(void)
{
        GICR &= ~(1 << INT1);
}

/* uses 36kHz timer => Sleep(x) = x/36kHz [sec] */
void Sleep(unsigned char time36kHz)
{ 
        unsigned char ziel=(time36kHz+count36kHz) & 0x00FF;
        while (count36kHz != ziel);
}


void Encoder_Init(void)
{
        cli();
        DDRC &= ~ ((1<<PC0) | (1<<PC1)); // Input => no break LED
        ODOMETRIE_LED_ON;
        ADCSRA = (1<<ADEN) | (1<<ADFR) | (1<<ADIE) | (1<<ADSC) | (1<<ADPS0) | (1<<ADPS1) | (1<<ADPS2); // clk/128
        ADMUX = (1<<ADLAR) | (1<<REFS0) | WHEEL_LEFT; // AVCC reference with external capacitor
        autoencode=TRUE;
        sei();
        Encoder_Set(0,0);
}

void Encoder_Stop(void){autoencode=FALSE;}
void Encoder_Start(void){autoencode=TRUE;}

void Encoder_Set(int setl,int setr)
{
        encoder[LEFT]=setl;
        encoder[RIGHT]=setr;
}

/***************************************************************************
*        void PrintInt(int wert)                                                                       
*       
*        last modification:
*        Ver.    Date        Author          Comments
*        -------  ----------  --------------  ---------------------------------
*        2.60    28.09.2005  m.a.r.v.i.n      strlen instead fixed length
*        2.61    20.11.2006  m.a.r.v.i.n      Initialisierung text String kann zu Fehler
*                                              beim Flashen mit RS232/IR Adapter fuehren
*                                              (Bug report von francesco) 
***************************************************************************/
void PrintInt(int wert)
{         
        char text[6];
        itoa(wert,text,10);
        SerWrite(text,strlen(text));

(gekürzt)

---

hmm... der code ist gekürzt. von dir oder vom system?

so spontan kann ich nichts entdecken. schau mal hier
http://sourceforge.net/project/showf...ease_id=465255
aus diesem zip-archiv entpackst du die asuro.c und die asuro.h in das projektverzeichnis, und überschreibst die alten dateien nochmal. gehts dann?

(die dateien sind irgendwo im unterverzeichnis "lib")

habe ich gemacht, aber das problem bleibt das gleiche

dann solltest du nach einer etwas älteren version ausschau halten. vielleicht ist da der fehler noch nicht aufgetreten... oder setz dich mal mit m.a.r.v.i.n in verbindung, der kennt sich da sehr gut aus...

versuche mal das zu compilieren

Code:

---

#include <asuro.h>

int main(void)
{
  Init();

  while (1);
  return 0;
}

---

weil bei der alten lib heisst es #include "asuro.h" und bei der neuen #include <asuro.h> der unterschied ist halt einmal " und einmal <> wo asuro.h drin steckt

es sollten "" sein und keine <>...

selbst das geht nicht

also "" bedeutet: die einzubindende datei liegt im selben verzeichnis wie der quellcode.
<> bedeutet: die einzubindende datei liegt im include-verzeichnis des compilers.
darum heisst es <math.h>, aber "asuro.h"

hmm bei mir geht beides ist das schlimm? so stand es jedenfalls mal in Test.c drin ich hatte es nur raus kopiert und comp. konnte ich es auch