seniordesign-firmware Changeset - c79b24c96a83

Changeset - c79b24c96a83

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ethanzonca@CL-SEC241-08.cedarville.edu - 13 years ago 2012-10-29 19:48:57
ethanzonca@CL-SEC241-08.cedarville.edu

Added afsk code, which is tested and works on the micro

11 files changed with 362 insertions and 20 deletions:

master/master/lib/afsk.c

152

master/master/lib/afsk.h

master/master/lib/led.c

master/master/lib/led.h

master/master/lib/serial.c

master/master/lib/serial.h

master/master/lib/serparser.c

master/master/master.c

master/master/master.cproj

slave/Makefile

slave/main.c

134

0 comments (0 inline, 0 general)

master/master/lib/afsk.c

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@@ new file 100644 @@
 /*
  * fsk.c
+ *
  * Created: 10/29/2012 7:40:34 PM
  *  Author: ethanzonca
  */
 /*
  * Master Firmware
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #define F_CPU 11059200
 #include <stdint.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
 #include <avr/pgmspace.h>
 PROGMEM extern const uint8_t afsk_sine_table[512] = {
 , 129, 130, 132, 133, 135, 136, 138, 139, 141, 143, 144, 146, 147, 149, 150, 152, 153, 155, 156, 158,
 , 161, 163, 164, 166, 167, 168, 170, 171, 173, 174, 176, 177, 179, 180, 182, 183, 184, 186, 187, 188,
 , 191, 193, 194, 195, 197, 198, 199, 200, 202, 203, 204, 205, 207, 208, 209, 210, 211, 213, 214, 215,
 , 217, 218, 219, 220, 221, 223, 224, 225, 226, 227, 228, 228, 229, 230, 231, 232, 233, 234, 235, 236,
 , 237, 238, 239, 239, 240, 241, 242, 242, 243, 244, 244, 245, 245, 246, 247, 247, 248, 248, 249, 249,
 , 250, 250, 251, 251, 251, 252, 252, 252, 253, 253, 253, 253, 254, 254, 254, 254, 254, 254, 254, 254,
 , 254, 255, 254, 254, 254, 254, 254, 254, 254, 254, 254, 254, 253, 253, 253, 253, 252, 252, 252, 251,
 , 251, 250, 250, 249, 249, 249, 248, 248, 247, 247, 246, 245, 245, 244, 244, 243, 242, 242, 241, 240,
 , 239, 238, 237, 236, 236, 235, 234, 233, 232, 231, 230, 229, 228, 228, 227, 226, 225, 224, 223, 221,
 , 219, 218, 217, 216, 215, 214, 213, 211, 210, 209, 208, 207, 205, 204, 203, 202, 200, 199, 198, 197,
 , 194, 193, 191, 190, 188, 187, 186, 184, 183, 182, 180, 179, 177, 176, 174, 173, 171, 170, 168, 167,
 , 164, 163, 161, 159, 158, 156, 155, 153, 152, 150, 149, 147, 146, 144, 143, 141, 139, 138, 136, 135,
 , 132, 130, 129, 127, 125, 124, 122, 121, 119, 118, 116, 115, 113, 111, 110, 108, 107, 105, 104, 102,
 ,  99,  98,  96,  95,  93,  91,  90,  88,  87,  86,  84,  83,  81,  80,  78,  77,  75,  74,  72,  71,
 ,  68,  67,  66,  64,  63,  61,  60,  59,  57,  56,  55,  54,  52,  51,  50,  49,  47,  46,  45,  44,
 ,  41,  40,  39,  38,  37,  36,  35,  34,  33,  31,  30,  29,  28,  27,  26,  26,  25,  24,  23,  22,
 ,  20,  19,  18,  18,  17,  16,  15,  15,  14,  13,  12,  12,  11,  10,  10,   9,   9,   8,   7,   7,
 ,   6,   5,   5,   5,   4,   4,   3,   3,   3,   2,   2,   2,   1,   1,   1,   1,   0,   0,   0,   0,
 ,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   1,   1,   1,   1,
 ,   2,   2,   3,   3,   3,   4,   4,   5,   5,   5,   6,   6,   7,   7,   8,   9,   9,  10,  10,  11,
 ,  12,  13,  14,  15,  15,  16,  17,  18,  18,  19,  20,  21,  22,  23,  24,  25,  26,  26,  27,  28,
 ,  30,  31,  33,  34,  35,  36,  37,  38,  39,  40,  41,  43,  44,  45,  46,  47,  49,  50,  51,  52,
 ,  55,  56,  57,  59,  60,  61,  63,  64,  66,  67,  68,  70,  71,  72,  74,  75,  77,  78,  80,  81,
 ,  84,  86,  87,  88,  90,  91,  93,  95,  96,  98,  99, 101, 102, 104, 105, 107, 108, 110, 111, 113,
 , 116, 118, 119, 121, 122, 124, 125
 };
 inline uint8_t afsk_read_sample(int phase)
+{
   return pgm_read_byte_near(afsk_sine_table + phase);
+}
 volatile uint16_t phase = 10;
 volatile uint16_t phasedelta = 3300;
 extern const uint16_t TABLE_SIZE = sizeof(afsk_sine_table);
 void afsk_setup() {
   // Source timer2 from clkIO (datasheet p.164)
   ASSR &= ~(_BV(EXCLK) | _BV(AS2));
   // Set fast PWM mode with TOP = 0xff: WGM22:0 = 3  (p.150)
   TCCR2A |= _BV(WGM21) | _BV(WGM20);
   TCCR2B &= ~_BV(WGM22);
   // Do non-inverting PWM on pin OC2B (arduino pin 3) (p.159).
   // OC2A (arduino pin 11) stays in normal port operation:
   // COM2B1=1, COM2B0=0, COM2A1=0, COM2A0=0
   TCCR2A = (TCCR2A | _BV(COM2B1)) & ~(_BV(COM2B0) | _BV(COM2A1) | _BV(COM2A0));
   // No prescaler (p.162)
   TCCR2B = (TCCR2B & ~(_BV(CS22) | _BV(CS21))) | _BV(CS20);
   // Enable interrupt when TCNT2 reaches TOP (0xFF) (p.151, 163)
 	//TIMSK2 |= _BV(TOIE2);
 	TIMSK2 |= 0b00000001;
 	// Initialize PORTA
 	DDRA = 0xff;
 	PORTA = 0x00;
 	DDRD = 0xff;
 	PORTD = 0xff;
 	sei();
+}
 void afsk_test() {
 	afsk_timer_start();
 	_delay_ms(3);
 	phasedelta = 1800;
 	_delay_ms(3);
 	phasedelta = 3300;
 	_delay_ms(3);
 	phasedelta = 1800;
 	_delay_ms(3);
 	phasedelta = 3300;
 	_delay_ms(3);
 	phasedelta = 1800;
 	_delay_ms(3);
 	phasedelta = 3300;
 	_delay_ms(3);
 	phasedelta = 1800;
 	_delay_ms(3);
 	phasedelta = 3300;
 	_delay_ms(3);
 	phasedelta = 1800;
 	_delay_ms(3);
 	phasedelta = 3300;
 	_delay_ms(3);
 	phasedelta = 1800;
 	_delay_ms(3);
 	phasedelta = 3300;
 	afsk_timer_stop();
 	_delay_ms(400);
+}
 // phase offset of 1800 gives ~1900 Hz
 // phase offset of 3300 gives ~2200 Hz
 ISR(TIMER2_OVF_vect) {
 	phase = (phase + phasedelta);
 	OCR2B = afsk_read_sample((phase >> 7) & (TABLE_SIZE - 1));
 	return;
+}
 void afsk_timer_start()
+{
 	// Clear the overflow flag, so that the interrupt doesn't go off
 	// immediately and overrun the next one (p.163).
 	TIFR2 |= _BV(TOV2);       // Yeah, writing a 1 clears the flag.
 	// Enable interrupt when TCNT2 reaches TOP (0xFF) (p.151, 163)
 	TIMSK2 |= _BV(TOIE2);
+}
 void afsk_timer_stop()
+{
 	// Output 0v (after DC coupling)
 	OCR2B = 0x00;
 	// Disable playback interrupt
 	TIMSK2 &= ~_BV(TOIE2);
+}

master/master/lib/afsk.h

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@@ new file 100644 @@
 /*
  * afsk.h
+ *
  * Created: 10/29/2012 7:43:03 PM
  *  Author: ethanzonca
  */
 #ifndef AFSK_H_
 #define AFSK_H_
 void afsk_setup();
 void afsk_test();
 void afsk_timer_start();
 void afsk_timer_stop();
 #endif /* AFSK_H_ */
@@ \ No newline at end of file @@

master/master/lib/led.c

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 /*
  * led.c
+ *
  * Created: 10/25/2012 3:34:03 PM
  *  Author: ethanzonca
  */
 #include <avr/io.h>
-void led_Configure() {
+void led_setup() {
 	// Configure ports/pins for LEDs
+}
 void led_On(uint8_t led) {
 	// Turn the specified LED on
+}
 void led_Off(uint8_t led) {
 	// Turn the specified LED off
+}
 void led_Toggle(uint8_t led) {
 	// Toggle the specified LED
+}
@@ \ No newline at end of file @@

master/master/lib/led.h

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 /*
  * led.h
+ *
  * Created: 10/25/2012 3:34:10 PM
  *  Author: ethanzonca
  */
 #ifndef LED_H_
 #define LED_H_
 #define POWER 1
 #define ERROR 2
 #define STAT 2
 #define OK 2
-void led_Configure();
+void led_setup();
 void led_On(uint8_t led);
 void led_Off(uint8_t led);
 void led_Toggle(uint8_t led);
 #endif /* LED_H_ */

master/master/lib/serial.c

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 /*
  * serial.c
+ *
  * Created: 10/25/2012 3:19:49 PM
  *  Author: ethanzonca
  */
 #include <avr/io.h>
 void serial_SendChar( char byte )
+{
 	while (!(UCSR0A & (1<<UDRE0)));
 	UDR0 = byte;
+}
 void serial_SendCommand( char moduleID, char measureType, uint8_t dataLength, char* data )
+{
 	char checkSum = 0x00; //initialize checksum
 	serial_SendChar('['); //bracket indicates start of command
 	serial_SendChar(moduleID);
 	checkSum+=moduleID;
 	serial_SendChar(measureType);
 	checkSum+=measureType;
 	//send each character of data individually
 	for (int i=0; i<dataLength; i++)
+	{
 		serial_SendChar(data[i]);
 		checkSum+=data[i];
+	}
 	serial_SendChar(checkSum);
 	serial_SendChar(']'); //bracket indicates end of command
+}
 void serial_SendResponseData(){
+}
-void serial_Configure() {
+void serial_setup() {
 	// Set registers!
 	// from mnl
 	// uart
 	//UBRRH = (BAUD_PRESCALE >> 8); // 0
 	//UBRRL = BAUD_PRESCALE; // 8
 	//UCSRA = 0;
 	//UCSRB = 0x18;
 	//UCSRC = 0x06;
 	//OCR0B = 0xff;
 	//OCR0A = 0xff;
 	//OCR1AL = 0xff;
 	//OCR1BL = 0xff;
+}

master/master/lib/serial.h

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 /*
  * serial.h
+ *
  * Created: 10/25/2012 3:19:42 PM
  *  Author: ethanzonca
  */
 #ifndef SERIAL_H_
 #define SERIAL_H_
 #define BAUD_PRESCALE (((F_CPU / (USART_BAUDRATE * 16UL))) -1 )
 void serial_SendChar( char byte );
 void serial_SendCommand( char moduleID, char measureType, uint8_t dataLength, char* data );
 void serial_SendResponseData();
-void serial_Configure();
+void serial_setup();
 #endif /* SERIAL_H_ */
@@ \ No newline at end of file @@

master/master/lib/serparser.c

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 /*
  * serparser.c
+ *
  * Created: 10/25/2012 8:11:43 PM
  *  Author: ethanzonca
  */
 #include <inttypes.h>
 #include <avr/io.h>
 // ************* Macros ***************
-#define SERIAL_RX_HASBYTES UCSRA & _BV(RXC)
+#define SERIAL_RX_HASBYTES UCSR0A & _BV(RXC0)
 #define MAX_CMD_LEN 8
 #define BROADCAST_ADDR 0
 //#define DEBUG
 // ************* Command Definitions ***************
 // Serial Commands
 enum luma_cmd {  // CMD ID#
 	BOARDTEMP = 0, // 0
 	PRESSURE,      // 1
 };
 // Data length of each command, in bytes
 uint8_t cmd_len[] = {
 , // BOARDTEMP_LEN
 , // PRESSURE_LEN
 };
 // Incoming command buffer
 uint8_t buffer[MAX_CMD_LEN+2];
 // Current buffer location
 uint8_t buffercount = 0;
 /* Get char from UART */
 uint8_t uart_getchar(void)
+{
 	// Wait for chars
 	while (!(UCSRA & (1<<RXC))){
 		idle();
 	while (!(UCSR0A & (1<<RXC0))){
 		//idle
+	}
-	return UDR;
+	return UDR0;
+}
 /* Process incoming serial data */
 int uart_machine(void) {
 	char byte;
 	// Only process data if buffer has a byte
 	if(SERIAL_RX_HASBYTES) {
 		#ifdef DEBUG
 		redflash();
 		#endif
 		// Pull byte off of the buffer
 		byte = uart_getchar();
 		buffer[buffercount] = byte;
 		// Start byte
 		if(buffercount == 0) {
 			if(byte == '[') {
 				// If this is a start byte, we're OK. Keep reading.
 				buffercount++;
+			}
 			else {
 				// Not a start byte that we're expecting. Reset to initial state.
 				buffercount = 0;
+			}
+		}
+	}
 	else {
 		return 0; // serial data not available
+	}
+}
@@ \ No newline at end of file @@

master/master/master.c

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 /*
  * master.c
+ *
  * Created: 10/25/2012 2:48:04 PM
  *  Author: mkanning
  */
 #include "config.h"
 #include <avr/io.h>
 #include <util/delay.h>
 #include "lib/serial.h"
 #include "lib/afsk.h"
-void micro_Configure() {
+void micro_setup() {
 	// Generic microcontroller config options
+}
 int main(void)
+{
 	// Initialize
 	micro_Configure();
 	led_Configure();
 	serial_Configure(); // Config serial ports
 	micro_setup();
 	led_setup();
 	serial_setup(); // Config serial ports
 	afsk_setup();
     while(1)
+    {
         serial_SendCommand('0','A',0,0);
 		afsk_test();
         //serial_SendCommand('0','A',0,0);
+    }
+}
@@ \ No newline at end of file @@

master/master/master.cproj

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 <?xml version="1.0" encoding="utf-8"?>
 <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup>
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectVersion>6.0</ProjectVersion>
     <ToolchainName>com.Atmel.AVRGCC8</ToolchainName>
     <ProjectGuid>{8579ec2d-5815-40db-84e0-1d14239c7aea}</ProjectGuid>
-    <avrdevice>ATmega644P</avrdevice>
+    <avrdevice>ATmega324P</avrdevice>
     <avrdeviceseries>none</avrdeviceseries>
     <OutputType>Executable</OutputType>
     <Language>C</Language>
     <OutputFileName>$(MSBuildProjectName)</OutputFileName>
     <OutputFileExtension>.elf</OutputFileExtension>
     <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
     <AssemblyName>master</AssemblyName>
     <Name>master</Name>
     <RootNamespace>master</RootNamespace>
     <ToolchainFlavour>Native</ToolchainFlavour>
     <KeepTimersRunning>true</KeepTimersRunning>
     <OverrideVtor>false</OverrideVtor>
     <OverrideVtorValue />
     <eraseonlaunchrule>0</eraseonlaunchrule>
     <AsfVersion>3.1.3</AsfVersion>
     <avrtool>com.atmel.avrdbg.tool.simulator</avrtool>
     <avrtoolinterface />
     <avrtool>com.atmel.avrdbg.tool.ispmk2</avrtool>
     <avrtoolinterface>ISP</avrtoolinterface>
     <com_atmel_avrdbg_tool_simulator>
       <ToolType xmlns="">com.atmel.avrdbg.tool.simulator</ToolType>
       <ToolName xmlns="">AVR Simulator</ToolName>
       <ToolNumber xmlns="">
       </ToolNumber>
       <KeepTimersRunning xmlns="">true</KeepTimersRunning>
       <OverrideVtor xmlns="">false</OverrideVtor>
       <OverrideVtorValue xmlns="">
       </OverrideVtorValue>
       <Channel xmlns="">
         <host>127.0.0.1</host>
         <port>52692</port>
         <ssl>False</ssl>
       </Channel>
     </com_atmel_avrdbg_tool_simulator>
     <com_atmel_avrdbg_tool_ispmk2>
       <ToolType>com.atmel.avrdbg.tool.ispmk2</ToolType>
       <ToolName>AVRISP mkII</ToolName>
       <ToolNumber>000200131077</ToolNumber>
       <KeepTimersRunning>true</KeepTimersRunning>
       <OverrideVtor>false</OverrideVtor>
       <OverrideVtorValue>
       </OverrideVtorValue>
       <Channel>
         <host>127.0.0.1</host>
         <port>61309</port>
         <ssl>False</ssl>
       </Channel>
       <ToolOptions>
         <InterfaceName>ISP</InterfaceName>
         <InterfaceProperties>
           <JtagDbgClock>249000</JtagDbgClock>
           <JtagProgClock>1000000</JtagProgClock>
           <IspClock>2010000</IspClock>
           <JtagInChain>false</JtagInChain>
           <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession>
           <JtagDevicesBefore>0</JtagDevicesBefore>
           <JtagDevicesAfter>0</JtagDevicesAfter>
           <JtagInstrBitsBefore>0</JtagInstrBitsBefore>
           <JtagInstrBitsAfter>0</JtagInstrBitsAfter>
         </InterfaceProperties>
       </ToolOptions>
     </com_atmel_avrdbg_tool_ispmk2>
     <preserveEEPROM>True</preserveEEPROM>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
     <ToolchainSettings>
       <AvrGcc>
         <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
         <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
         <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
         <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
         <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
         <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
         <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
         <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
         <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
         <avrgcc.linker.libraries.Libraries>
           <ListValues>
             <Value>m</Value>
           </ListValues>
         </avrgcc.linker.libraries.Libraries>
       </AvrGcc>
     </ToolchainSettings>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
     <ToolchainSettings>
       <AvrGcc>
         <avrgcc.common.outputfiles.hex>True</avrgcc.common.outputfiles.hex>
         <avrgcc.common.outputfiles.lss>True</avrgcc.common.outputfiles.lss>
         <avrgcc.common.outputfiles.eep>True</avrgcc.common.outputfiles.eep>
         <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
         <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
         <avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
         <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
         <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
         <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
         <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
         <avrgcc.linker.libraries.Libraries>
           <ListValues>
             <Value>m</Value>
           </ListValues>
         </avrgcc.linker.libraries.Libraries>
         <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
       </AvrGcc>
     </ToolchainSettings>
   </PropertyGroup>
   <ItemGroup>
     <Compile Include="config.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\afsk.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\afsk.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\led.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serial.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serial.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.c">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="lib\serparser.h">
       <SubType>compile</SubType>
     </Compile>
     <Compile Include="master.c">
       <SubType>compile</SubType>
     </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="lib" />
   </ItemGroup>
   <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
 </Project>
@@ \ No newline at end of file @@

slave/Makefile

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 # Hey Emacs, this is a -*- makefile -*-
 #----------------------------------------------------------------------------
 # WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al.
+#
 # Released to the Public Domain
+#
 # Additional material for this makefile was written by:
 # Peter Fleury
 # Tim Henigan
 # Colin O'Flynn
 # Reiner Patommel
 # Markus Pfaff
 # Sander Pool
 # Frederik Rouleau
 # Carlos Lama
 # Ethan Zonca
+#
 #----------------------------------------------------------------------------
 # On command line:
+#
 # make all = Make software.
+#
 # make clean = Clean out built project files.
+#
 # make coff = Convert ELF to AVR COFF.
+#
 # make extcoff = Convert ELF to AVR Extended COFF.
+#
 # make program = Download the hex file to the device, using avrdude.
 #                Please customize the avrdude settings below first!
+#
 # make debug = Start either simulavr or avarice as specified for debugging,
 #              with avr-gdb or avr-insight as the front end for debugging.
+#
 # make filename.s = Just compile filename.c into the assembler code only.
+#
 # make filename.i = Create a preprocessed source file for use in submitting
 #                   bug reports to the GCC project.
+#
 # To rebuild project do "make clean" then "make all".
 #----------------------------------------------------------------------------
 AVRDUDE_PORT = usb
 # Target file name (without extension).
 TARGET = main
 # List C source files here. (C dependencies are automatically generated.)
 SRC =	$(TARGET).c
 # MCU name, you MUST set this to match the board you are using
 # type "make clean" after changing this, so all files will be rebuilt
+#
-MCU = atmega328p
+MCU = atmega324p
 # Processor frequency.
 #   Normally the first thing your program should do is set the clock prescaler,
 #   so your program will run at the correct speed.  You should also set this
 #   variable to same clock speed.  The _delay_ms() macro uses this, and many
 #   examples use this variable to calculate timings.  Do not add a "UL" here.
 F_CPU = 16000000
 F_CPU = 11059200
 # Output format. (can be srec, ihex, binary)
 FORMAT = ihex
 # Object files directory
 #     To put object files in current directory, use a dot (.), do NOT make
 #     this an empty or blank macro!
 OBJDIR = .
 # List C++ source files here. (C dependencies are automatically generated.)
 CPPSRC =
 # 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 =
 # Optimization level, can be [0, 1, 2, 3, s].
 #     0 = turn off optimization. s = optimize for size.
 #     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
 OPT = s
 # Debugging format.
 #     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
 #     AVR Studio 4.10 requires dwarf-2.
 #     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
 DEBUG = dwarf-2
 # List any extra directories to look for include files here.
 #     Each directory must be seperated by a space.
 #     Use forward slashes for directory separators.
 #     For a directory that has spaces, enclose it in quotes.
 EXTRAINCDIRS =
 # Compiler flag to set the C Standard level.
 #     c89   = "ANSI" C
 #     gnu89 = c89 plus GCC extensions
 #     c99   = ISO C99 standard (not yet fully implemented)
 #     gnu99 = c99 plus GCC extensions
 CSTANDARD = -std=gnu99
 # Place -D or -U options here for C sources
 CDEFS = -DF_CPU=$(F_CPU)UL
 # Place -D or -U options here for ASM sources
 ADEFS = -DF_CPU=$(F_CPU)
 # Place -D or -U options here for C++ sources
 CPPDEFS = -DF_CPU=$(F_CPU)UL
 #CPPDEFS += -D__STDC_LIMIT_MACROS
 #CPPDEFS += -D__STDC_CONSTANT_MACROS
 #---------------- Compiler Options C ----------------
 #  -g*:          generate debugging information
 #  -O*:          optimization level
 #  -f...:        tuning, see GCC manual and avr-libc documentation
 #  -Wall...:     warning level
 #  -Wa,...:      tell GCC to pass this to the assembler.
 #    -adhlns...: create assembler listing
 CFLAGS = -g$(DEBUG)
 CFLAGS += $(CDEFS)
 CFLAGS += -O$(OPT)
 CFLAGS += -funsigned-char
 CFLAGS += -funsigned-bitfields
 CFLAGS += -ffunction-sections
 CFLAGS += -fpack-struct
 CFLAGS += -fshort-enums
 CFLAGS += -Wall
 CFLAGS += -Wstrict-prototypes
 #CFLAGS += -mshort-calls
 #CFLAGS += -fno-unit-at-a-time
 #CFLAGS += -Wundef
 #CFLAGS += -Wunreachable-code
 #CFLAGS += -Wsign-compare
 CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 CFLAGS += $(CSTANDARD)
 #---------------- Compiler Options C++ ----------------
 #  -g*:          generate debugging information
 #  -O*:          optimization level
 #  -f...:        tuning, see GCC manual and avr-libc documentation
 #  -Wall...:     warning level
 #  -Wa,...:      tell GCC to pass this to the assembler.
 #    -adhlns...: create assembler listing
 CPPFLAGS = -g$(DEBUG)
 CPPFLAGS += $(CPPDEFS)
 CPPFLAGS += -O$(OPT)
 CPPFLAGS += -funsigned-char
 CPPFLAGS += -funsigned-bitfields
 CPPFLAGS += -fpack-struct
 CPPFLAGS += -fshort-enums
 CPPFLAGS += -fno-exceptions
 CPPFLAGS += -Wall
 CPPFLAGS += -Wundef
 #CPPFLAGS += -mshort-calls
 #CPPFLAGS += -fno-unit-at-a-time
 #CPPFLAGS += -Wstrict-prototypes
 #CPPFLAGS += -Wunreachable-code
 #CPPFLAGS += -Wsign-compare
 CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
 CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 #CPPFLAGS += $(CSTANDARD)
 #---------------- Assembler Options ----------------
 #  -Wa,...:   tell GCC to pass this to the assembler.
 #  -adhlns:   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]
 #  -listing-cont-lines: Sets the maximum number of continuation lines of hex
 #       dump that will be displayed for a given single line of source input.
 ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
 #---------------- Library Options ----------------
 # Minimalistic printf version
 PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
 # Floating point printf version (requires MATH_LIB = -lm below)
 PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
 # If this is left blank, then it will use the Standard printf version.
 PRINTF_LIB =
 #PRINTF_LIB = $(PRINTF_LIB_MIN)
 #PRINTF_LIB = $(PRINTF_LIB_FLOAT)
 # Minimalistic scanf version
 SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
 # Floating point + %[ scanf version (requires MATH_LIB = -lm below)
 SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
 # If this is left blank, then it will use the Standard scanf version.
 SCANF_LIB =
 #SCANF_LIB = $(SCANF_LIB_MIN)
 #SCANF_LIB = $(SCANF_LIB_FLOAT)
 MATH_LIB = -lm
 # List any extra directories to look for libraries here.
 #     Each directory must be seperated by a space.
 #     Use forward slashes for directory separators.
 #     For a directory that has spaces, enclose it in quotes.
 EXTRALIBDIRS =
 #---------------- External Memory Options ----------------
 # 64 KB of external RAM, starting after internal RAM (ATmega128!),
 # used for variables (.data/.bss) and heap (malloc()).
 #EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
 # 64 KB of external RAM, starting after internal RAM (ATmega128!),
 # only used for heap (malloc()).
 #EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
 EXTMEMOPTS =
 #---------------- Linker Options ----------------
 #  -Wl,...:     tell GCC to pass this to linker.
 #    -Map:      create map file
 #    --cref:    add cross reference to  map file
 LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 LDFLAGS += -Wl,--relax
 LDFLAGS += -Wl,--gc-sections
 LDFLAGS += $(EXTMEMOPTS)
 LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
 LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
 #LDFLAGS += -T linker_script.x
 #---------------- Programming Options (avrdude) ----------------
 # Programming hardware
 # Type: avrdude -c ?
 # to get a full listing.
+#
 AVRDUDE_PROGRAMMER = usbasp
 # com1 = serial port. Use lpt1 to connect to parallel port.
 #AVRDUDE_PORT = com1    # programmer connected to serial device
 AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
 #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
 # Uncomment the following if you want avrdude's erase cycle counter.
 # Note that this counter needs to be initialized first using -Yn,
 # see avrdude manual.
 #AVRDUDE_ERASE_COUNTER = -y
 # Uncomment the following if you do /not/ wish a verification to be
 # performed after programming the device.
 #AVRDUDE_NO_VERIFY = -V
 # Increase verbosity level.  Please use this when submitting bug
 # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
 # to submit bug reports.
 #AVRDUDE_VERBOSE = -v -v
 AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
 AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
 AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
 AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
 #---------------- Debugging Options ----------------
 # For simulavr only - target MCU frequency.
 DEBUG_MFREQ = $(F_CPU)
 # Set the DEBUG_UI to either gdb or insight.
 # DEBUG_UI = gdb
 DEBUG_UI = insight
 # Set the debugging back-end to either avarice, simulavr.
 DEBUG_BACKEND = avarice
 #DEBUG_BACKEND = simulavr
 # GDB Init Filename.
 GDBINIT_FILE = __avr_gdbinit
 # When using avarice settings for the JTAG
 JTAG_DEV = /dev/com1
 # Debugging port used to communicate between GDB / avarice / simulavr.
 DEBUG_PORT = 4242
 # Debugging host used to communicate between GDB / avarice / simulavr, normally
 #     just set to localhost unless doing some sort of crazy debugging when
 #     avarice is running on a different computer.
 DEBUG_HOST = localhost
 #============================================================================
 # Define programs and commands.
 SHELL = sh
 CC = avr-gcc
 OBJCOPY = avr-objcopy
 OBJDUMP = avr-objdump
 SIZE = avr-size
 AR = avr-ar rcs
 NM = avr-nm
 AVRDUDE = avrdude
 REMOVE = rm -f
 REMOVEDIR = rm -rf
 COPY = cp
 WINSHELL = cmd
 # Define Messages
 # English
 MSG_ERRORS_NONE = Errors: none
 MSG_BEGIN = -------- begin --------
 MSG_END = --------  end  --------
 MSG_SIZE_BEFORE = Size before:
 MSG_SIZE_AFTER = Size after:
 MSG_COFF = Converting to AVR COFF:
 MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
 MSG_FLASH = Creating load file for Flash:
 MSG_EEPROM = Creating load file for EEPROM:
 MSG_EXTENDED_LISTING = Creating Extended Listing:
 MSG_SYMBOL_TABLE = Creating Symbol Table:
 MSG_LINKING = Linking:
 MSG_COMPILING = Compiling C:
 MSG_COMPILING_CPP = Compiling C++:
 MSG_ASSEMBLING = Assembling:
 MSG_CLEANING = Cleaning project:
 MSG_CREATING_LIBRARY = Creating library:
 # Define all object files.
 OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
 # Define all listing files.
 LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
 # Compiler flags to generate dependency files.
 GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
 # Combine all necessary flags and optional flags.
 # Add target processor to flags.
 ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
 ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
 ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 # Default target.
 all: begin gccversion sizebefore build sizeafter end
 # Change the build target to build a HEX file or a library.
 build: elf hex eep lss sym
 	avrdude -P $(AVRDUDE_PORT) -p $(MCU) -c $(AVRDUDE_PROGRAMMER) -q -e -U flash:w:$(TARGET).hex
 #build: lib
 elf: $(TARGET).elf
 hex: $(TARGET).hex
 eep: $(TARGET).eep
 lss: $(TARGET).lss
 sym: $(TARGET).sym
 LIBNAME=lib$(TARGET).a
 lib: $(LIBNAME)
 # 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:
 	@echo
 	@echo $(MSG_BEGIN)
 end:
 	@echo $(MSG_END)
 	@echo
 # Display size of file.
 HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
 #ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf
 ELFSIZE = $(SIZE) $(TARGET).elf
 sizebefore:
 	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
 >/dev/null; echo; fi
 sizeafter:
 	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
 >/dev/null; echo; fi
 # Display compiler version information.
 gccversion :
 	@$(CC) --version
 # Program the device.
 program: $(TARGET).hex $(TARGET).eep
 	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
 # Generate avr-gdb config/init file which does the following:
 #     define the reset signal, load the target file, connect to target, and set
 #     a breakpoint at main().
 gdb-config:
 	@$(REMOVE) $(GDBINIT_FILE)

slave/main.c

➞

Show inline comments

 /*
  * Slave Firmware
+ *
  * Wireless Observational Modular Aerial Network
+ *
  * Ethan Zonca
  * Matthew Kanning
  * Kyle Ripperger
  * Matthew Kroening
+ *
  */
 #include <stdint.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
 #include <avr/pgmspace.h>
 PROGMEM extern const prog_uchar afsk_sine_table[512] = {
 , 129, 130, 132, 133, 135, 136, 138, 139, 141, 143, 144, 146, 147, 149, 150, 152, 153, 155, 156, 158,
 , 161, 163, 164, 166, 167, 168, 170, 171, 173, 174, 176, 177, 179, 180, 182, 183, 184, 186, 187, 188,
 , 191, 193, 194, 195, 197, 198, 199, 200, 202, 203, 204, 205, 207, 208, 209, 210, 211, 213, 214, 215,
 , 217, 218, 219, 220, 221, 223, 224, 225, 226, 227, 228, 228, 229, 230, 231, 232, 233, 234, 235, 236,
 , 237, 238, 239, 239, 240, 241, 242, 242, 243, 244, 244, 245, 245, 246, 247, 247, 248, 248, 249, 249,
 , 250, 250, 251, 251, 251, 252, 252, 252, 253, 253, 253, 253, 254, 254, 254, 254, 254, 254, 254, 254,
 , 254, 255, 254, 254, 254, 254, 254, 254, 254, 254, 254, 254, 253, 253, 253, 253, 252, 252, 252, 251,
 , 251, 250, 250, 249, 249, 249, 248, 248, 247, 247, 246, 245, 245, 244, 244, 243, 242, 242, 241, 240,
 , 239, 238, 237, 236, 236, 235, 234, 233, 232, 231, 230, 229, 228, 228, 227, 226, 225, 224, 223, 221,
 , 219, 218, 217, 216, 215, 214, 213, 211, 210, 209, 208, 207, 205, 204, 203, 202, 200, 199, 198, 197,
 , 194, 193, 191, 190, 188, 187, 186, 184, 183, 182, 180, 179, 177, 176, 174, 173, 171, 170, 168, 167,
 , 164, 163, 161, 159, 158, 156, 155, 153, 152, 150, 149, 147, 146, 144, 143, 141, 139, 138, 136, 135,
 , 132, 130, 129, 127, 125, 124, 122, 121, 119, 118, 116, 115, 113, 111, 110, 108, 107, 105, 104, 102,
 ,  99,  98,  96,  95,  93,  91,  90,  88,  87,  86,  84,  83,  81,  80,  78,  77,  75,  74,  72,  71,
 ,  68,  67,  66,  64,  63,  61,  60,  59,  57,  56,  55,  54,  52,  51,  50,  49,  47,  46,  45,  44,
 ,  41,  40,  39,  38,  37,  36,  35,  34,  33,  31,  30,  29,  28,  27,  26,  26,  25,  24,  23,  22,
 ,  20,  19,  18,  18,  17,  16,  15,  15,  14,  13,  12,  12,  11,  10,  10,   9,   9,   8,   7,   7,
 ,   6,   5,   5,   5,   4,   4,   3,   3,   3,   2,   2,   2,   1,   1,   1,   1,   0,   0,   0,   0,
 ,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   0,   1,   1,   1,   1,
 ,   2,   2,   3,   3,   3,   4,   4,   5,   5,   5,   6,   6,   7,   7,   8,   9,   9,  10,  10,  11,
 ,  12,  13,  14,  15,  15,  16,  17,  18,  18,  19,  20,  21,  22,  23,  24,  25,  26,  26,  27,  28,
 ,  30,  31,  33,  34,  35,  36,  37,  38,  39,  40,  41,  43,  44,  45,  46,  47,  49,  50,  51,  52,
 ,  55,  56,  57,  59,  60,  61,  63,  64,  66,  67,  68,  70,  71,  72,  74,  75,  77,  78,  80,  81,
 ,  84,  86,  87,  88,  90,  91,  93,  95,  96,  98,  99, 101, 102, 104, 105, 107, 108, 110, 111, 113,
 , 116, 118, 119, 121, 122, 124, 125
 };
 inline uint8_t afsk_read_sample(int phase)
+{
   return pgm_read_byte_near(afsk_sine_table + phase);
+}
 volatile uint16_t state = 0;
 volatile uint8_t up = 1;
 int main(void)
+{
   _delay_ms(4);
   // Source timer2 from clkIO (datasheet p.164)
   ASSR &= ~(_BV(EXCLK) | _BV(AS2));
   // Set fast PWM mode with TOP = 0xff: WGM22:0 = 3  (p.150)
   TCCR2A |= _BV(WGM21) | _BV(WGM20);
   TCCR2B &= ~_BV(WGM22);
   // Do non-inverting PWM on pin OC2B (arduino pin 3) (p.159).
   // OC2A (arduino pin 11) stays in normal port operation:
   // COM2B1=1, COM2B0=0, COM2A1=0, COM2A0=0
   TCCR2A = (TCCR2A | _BV(COM2B1)) & ~(_BV(COM2B0) | _BV(COM2A1) | _BV(COM2A0));
   // No prescaler (p.162)
   //TCCR2B = (TCCR2B & ~(_BV(CS22) | _BV(CS21))) | _BV(CS20);
   TCCR2B = CS22 | CS21 |  CS20;
   // Enable interrupt when TCNT2 reaches TOP (0xFF) (p.151, 163)
 	//TIMSK2 |= _BV(TOIE2);
 	TIMSK2 |= 0b00000111;
 	// Initialize PORTA
 	DDRA = 0xff;
 	PORTA = 0x00;
 	DDRD = 0xff;
 	PORTD = 0xff;
 	sei();
 	while(1) {
 		//PORTA ++;
 		/*
 		if(state < 512) {
 			OCR2B = afsk_sine_table[state];
+		}
 		else {
 			state = 0;
 			OCR2B = afsk_sine_table[state];
+		}
 			*/
 		/*
 		OCR2B = afsk_sine_table[state];
 		if(up==1)
 			state++;
 		else
 			state--;
 		if(state <= 0)
 			up = 1;
 		else if(state >= 254)
 			up = 0;
 			*/
 		_delay_us(10);
+	}
+}
 volatile uint8_t meh = 1;
 void frick() {
 	meh = meh + 5;
 	//OCR2B = 0x09;
 	OCR2B += meh;// = meh;// = afsk_read_sample(meh);
+}
 ISR(TIMER2_OVF_vect) {
 /*
 	PORTA = 0xff;
 	_delay_ms(500);
 	PORTA = 0x00;
 	_delay_ms(500);  */
 	frick();
 	//meh++;
 	//OCR2B = 0x90;
 	/*
   // [...] load the next sample
   if(state < 512) {
 	OCR2B = afsk_sine_table[state];
+	}
 	else {
 		state = 0;
 	}*/
 	return;
+}

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