So, ich habe das Linien-Verfolgungs-Programm ein wenig bearbeitet:
- Auf das notwendigste reduziert
- Etwas verbessert (Dank an HermannSW!)
- Doxygen-Kompatibel kommentiert
Ich schlage vor, es statt des test.c in das Verzeichnis examples/LineTest aufzunehmen. Ich habe es in "ltest.c" umbenannt, da ich ansonsten Doxygen nicht überreden konnte die Kommentare anzuzeigen.
ltest.c
Code:
/****************************************************************************/
/*!
\file ltest.c
\brief Linienverfolgung
Enthält einen Algorithmus, der den Asuro Linien verfolgen lässt. Dazu wird die
LED vorne unten "FrontLED" eingeschaltet und das reflektierte Licht mittels der
beiden Empfangs-LEDs vorne unten ausgewertet.
Der Asuro regelt die Geradeausfahrt. Wenn er links neben die Linie kommt, so
bremst er das rechte Rad ab und umgekehrt. Wie stellt er fest, dass von der
Mitte abweicht? Er leuchtet den Untergrund an miss auf den Empfängern rechts
und links das reflektierte Licht. Befindet sich beispielsweise der linke
Empfänger über der hellen Linie, so wird dort mehr Licht reflektiert. Die
beiden Messwerte sind ungleich - der Asoro versucht sie wieder anzugleichen.
Regelungstechnisch gesehen handelt es sich um einen \htmlonly
I-Regler. \endhtmlonly
Solange Asuro eine Abweichung feststellt, wird er immer mehr dagegen angehen
bis die Abweichung wieder auf Null ist. Das Maß des Gegensteuerns ist nicht
abhängig von der Differenz der Helligkeiten sondern nur von der Zeit, wie
lange die Abweichung besteht.
**************************************************************************/
/**************************************************************************
*
* Original: File Name: LineDemo.c by Jan Grewe
* Copyright (c) 2003 DLR Robotics & Mechatronics
*
* Geändert: Simsys
*
***************************************************************************
* 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"
/*! Legt die höchste Geschwindigkeit der Motoren fest */
#define MAXSPEED 140
/*! Legt die niedrigste Geschwindigkeit der Motoren fest */
#define MINSPEED 30
/*! Geschwindigkeiten der beiden Motoren merken */
int speedLeft,speedRight;
/*! Speicherplatz für A/D-Wandlung reservieren */
unsigned int lineData[2];
/*! Helligkeitsdifferenz der Bauteile fest halten */
int ADOffset;
/*!
Die Linie befindet sich links von der Mitte, also müssen wir das linke Rad
bremsen damit sie wieder in die Mitte kommt.
*/
void LineLeft (void)
{
speedLeft -= 1; /* links bremsen */
if (speedLeft < MINSPEED)
speedLeft = MINSPEED;
}
/*!
Die Linie befindet sich rechts von der Mitte, also müssen wir das rechte Rad
bremsen damit sie wieder in die Mitte kommt.
*/
void LineRight (void)
{
speedRight -= 1; /* rechts bremsen */
if (speedRight < MINSPEED)
speedRight = MINSPEED;
}
int main(void)
{
int i;
unsigned char j;
Init(); // Initialisierung der Asuro Hardware
FrontLED(ON); // FrontLED ein
for (j = 0; j < 0xFF; j++) // Einlesen der beiden Empfangsdioden
LineData(lineData);
// Differenz bestimmen und abspeichern
ADOffset = lineData[LEFT] - lineData[RIGHT];
speedLeft = speedRight = MAXSPEED; // Speed einstellen
StatusLED(GREEN); // Anzeigen: alles, jetzt geht es los!
while (1) { // Endlosschleife
LineData(lineData); // Helligkeitswerte einlesen
i = (lineData[LEFT] - lineData[RIGHT]) - ADOffset; // Helle Linie
// i = (lineData[RIGHT] - lineData[LEFT]) + ADOffset; // Dunkle Linie
if ( i > 4)
LineLeft(); // Die Linie befindet sich links
else {
if ( i < -4) // Die Linie befindet sich rechts
LineRight();
else
speedLeft = speedRight = MAXSPEED; // keine Differenz, gerade!
}
MotorSpeed(speedLeft,speedRight); // Geschwindigkeiten setzen
}
}
Nachfolgend auch noch das angepasste Makefile
Code:
# WinAVR Sample makefile written by Eric B. Weddington, J�g Wunsch, et al.
# Released to the Public Domain
# Please read the make user manual!
#
#
# On command line:
#
# make all = Make software.
#
# make clean = Clean out built project files.
#
# make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB).
#
# make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio
# 4.07 or greater).
#
# make program = Download the hex file to the device, using avrdude. Please
# customize the avrdude settings below first!
#
# make filename.s = Just compile filename.c into the assembler code only
#
# To rebuild project do "make clean" then "make all".
#
# MCU name
MCU = atmega8
# Output format. (can be srec, ihex, binary)
FORMAT = ihex
# Target file name (without extension).
TARGET = ltest
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s
# List C source files here. (C dependencies are automatically generated.)
SRC = $(TARGET).c
# If there is more than one source file, append them above, or adjust and
# uncomment the following:
SRC += asuro.c
# You can also wrap lines by appending a backslash to the end of the line:
#SRC += baz.c \
#xyzzy.c
# List Assembler source files here.
# Make them always end in a capital .S. Files ending in a lowercase .s
# will not be considered source files but generated files (assembler
# output from the compiler), and will be deleted upon "make clean"!
# Even though the DOS/Win* filesystem matches both .s and .S the same,
# it will preserve the spelling of the filenames, and GCC itself does
# care about how the name is spelled on its command-line.
ASRC =
# Optional compiler flags.
# -g: generate debugging information (for GDB, or for COFF conversion)
# -O*: optimization level
# -f...: tuning, see GCC manual and avr-libc documentation
# -Wall...: warning level
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create assembler listing
CFLAGS = -g -O$(OPT) -I../../lib/inc\
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \
-Wall -Wstrict-prototypes \
-Wa,-ahlms=$(<:.c=.lst)
VPATH=../../lib
# Optional assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlms: create listing
# -gstabs: have the assembler create line number information; note that
# for use in COFF files, additional information about filenames
# and function names needs to be present in the assembler source
# files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-ahlms=$(<:.S=.lst),-gstabs
# Optional linker flags.
# -Wl,...: tell GCC to pass this to linker.
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
# Additional libraries
#
# Minimalistic printf version
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min
#
# Floating point printf version (requires -lm below)
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt
#
# -lm = math library
LDFLAGS += -lm
LDFLAGS += -lasuro
# ---------------------------------------------------------------------------
# Define directories, if needed.
DIRAVR = c:/winavr
DIRAVRBIN = $(DIRAVR)/bin
DIRAVRUTILS = $(DIRAVR)/utils/bin
DIRINC = .
DIRLIB = $(DIRAVR)/avr/lib
# Define programs and commands.
SHELL = sh
CC = avr-gcc
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
REMOVE = rm -f
COPY = cp
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
FINISH = echo Errors: none
BEGIN = echo -------- begin --------
END = echo -------- end --------
# 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: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \
$(TARGET).lss sizeafter finished end
# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
@$(BEGIN)
finished:
@$(FINISH)
end:
@$(END)
# Display size of file.
sizebefore:
@if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE);fi
sizeafter:
@if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE);fi
# Display compiler version information.
gccversion :
$(CC) --version
# Convert ELF to COFF for use in debugging / simulating in
# AVR Studio or VMLAB.
COFFCONVERT=$(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).cof
extcoff: $(TARGET).elf
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
%.eep: %.elf
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
# Create extended listing file from ELF output file.
%.lss: %.elf
$(OBJDUMP) -h -S $< > $@
# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
# Compile: create object files from C source files.
%.o : %.c
$(CC) -c $(ALL_CFLAGS) $< -o $@
# Compile: create assembler files from C source files.
%.s : %.c
$(CC) -S $(ALL_CFLAGS) $< -o $@
# Assemble: create object files from assembler source files.
%.o : %.S
$(CC) -c $(ALL_ASFLAGS) $< -o $@
# Target: clean project.
clean: begin clean_list finished end
clean_list :
$(REMOVE) $(TARGET).hex
$(REMOVE) $(TARGET).eep
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).cof
$(REMOVE) $(TARGET).elf
$(REMOVE) $(TARGET).map
$(REMOVE) $(TARGET).obj
$(REMOVE) $(TARGET).a90
$(REMOVE) $(TARGET).sym
$(REMOVE) $(TARGET).lnk
$(REMOVE) $(TARGET).lss
$(REMOVE) $(OBJ)
$(REMOVE) $(LST)
$(REMOVE) $(SRC:.c=.s)
$(REMOVE) $(SRC:.c=.d)
# Automatically generate C source code dependencies.
# (Code originally taken from the GNU make user manual and modified
# (See README.txt Credits).)
#
# Note that this will work with sh (bash) and sed that is shipped with WinAVR
# (see the SHELL variable defined above).
# This may not work with other shells or other seds.
#
%.d: %.c
set -e; $(CC) -MM $(ALL_CFLAGS) $< \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \
[ -s $@ ] || rm -f $@
# Remove the '-' if you want to see the dependency files generated.
-include $(SRC:.c=.d)
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \
clean clean_list program
Beste Grüße
Simsys
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