Added OSU Mars Rover 2104 Firmware and Design Files

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/AngleRadioRover/AngleRadioRover/AngleRadioRover.atsln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "AngleRadioRover", "AngleRadioRover.cppproj", "{765D9589-720A-431F-86AA-13FF35F5F0D7}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{765D9589-720A-431F-86AA-13FF35F5F0D7}.Debug|AVR.ActiveCfg = Debug|AVR
+		{765D9589-720A-431F-86AA-13FF35F5F0D7}.Debug|AVR.Build.0 = Debug|AVR
+		{765D9589-720A-431F-86AA-13FF35F5F0D7}.Release|AVR.ActiveCfg = Release|AVR
+		{765D9589-720A-431F-86AA-13FF35F5F0D7}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/AngleRadioRover/AngleRadioRover/AngleRadioRover.cpp

@@ -0,0 +1,17 @@
+/*
+ * AngleRadioRover.cpp
+ *
+ * Created: 4/23/2014 2:39:18 AM
+ *  Author: corwin
+ */ 
+
+
+#include <avr/io.h>
+
+int main(void)
+{
+    while(1)
+    {
+        //TODO:: Please write your application code 
+    }
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/AngleRadioRover/AngleRadioRover/AngleRadioRover.cppproj

@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>6.2</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.CPP</ToolchainName>
+    <ProjectGuid>{765d9589-720a-431f-86aa-13ff35f5f0d7}</ProjectGuid>
+    <avrdevice>ATxmega32D4</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>CPP</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>AngleRadioRover</AssemblyName>
+    <Name>AngleRadioRover</Name>
+    <RootNamespace>AngleRadioRover</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress />
+    <UncachedRange />
+    <OverrideVtorValue />
+    <BootSegment>2</BootSegment>
+    <eraseonlaunchrule>1</eraseonlaunchrule>
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+  <options />
+  <configurations />
+  <files />
+  <documentation help="" />
+  <offline-documentation help="" />
+  <dependencies>
+    <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.15.0" />
+  </dependencies>
+</framework-data>
+    </AsfFrameworkConfig>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+  <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+  <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcc.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>NDEBUG</Value>
+    </ListValues>
+  </avrgcc.compiler.symbols.DefSymbols>
+  <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>
+  <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcccpp.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>NDEBUG</Value>
+    </ListValues>
+  </avrgcccpp.compiler.symbols.DefSymbols>
+  <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
+  <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+  <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+  <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+  <avrgcccpp.linker.libraries.Libraries>
+    <ListValues>
+      <Value>libm</Value>
+    </ListValues>
+  </avrgcccpp.linker.libraries.Libraries>
+</AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+  <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+  <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcc.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>DEBUG</Value>
+    </ListValues>
+  </avrgcc.compiler.symbols.DefSymbols>
+  <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>
+  <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcccpp.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>DEBUG</Value>
+    </ListValues>
+  </avrgcccpp.compiler.symbols.DefSymbols>
+  <avrgcccpp.compiler.optimization.level>Optimize (-O1)</avrgcccpp.compiler.optimization.level>
+  <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+  <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+  <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
+  <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+  <avrgcccpp.linker.libraries.Libraries>
+    <ListValues>
+      <Value>libm</Value>
+    </ListValues>
+  </avrgcccpp.linker.libraries.Libraries>
+  <avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
+</AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="AngleRadioRover.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/AngleRadioRover/README

@@ -0,0 +1,3 @@
+Firmware for all final boards should go here.
+
+All firmware developed using Atmel Studio 6.2.

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/ArmControl.atsln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "ArmControl", "ArmControl.cppproj", "{1FC16D6E-A0D0-480A-BA3E-D179A1655ABB}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{1FC16D6E-A0D0-480A-BA3E-D179A1655ABB}.Debug|AVR.ActiveCfg = Debug|AVR
+		{1FC16D6E-A0D0-480A-BA3E-D179A1655ABB}.Debug|AVR.Build.0 = Debug|AVR
+		{1FC16D6E-A0D0-480A-BA3E-D179A1655ABB}.Release|AVR.ActiveCfg = Release|AVR
+		{1FC16D6E-A0D0-480A-BA3E-D179A1655ABB}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/ArmControl.cpp

@@ -0,0 +1,476 @@
+/*
+ * ArmControl.cpp
+ *
+ * Created: 4/22/2014 8:54:20 PM
+<<<<<<< HEAD
+ *  Author: NICK!
+ * PA0 is Step2POT
+ * PA1 is Step1POT
+=======
+
+PB3 = Limit 1 = Grip Limit
+PA3 = Limit 2 = Grip Close
+PA2 = Limit 3 = Rotation Calibration
+
+
+ *  Author: Nick
+>>>>>>> 034fb4b9ec9e5b3ad4812938ac8725fedd57e6b0
+ */ 
+
+#define F_CPU 32000000UL
+#define MAXTIMEOUT 20
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdio.h>
+
+extern "C" {
+	#include "avr_compiler.h"
+	#include "usart_driver.h"
+};
+
+#include "Sabertooth.h"
+#include "XMegaMacros.h"
+#include "adc.h"  //Include the ADC functions
+#include "motorInfo.h"  //Include the motor information
+#include "stepperInfo.h"
+#include "rotateStepper.h"
+#include "Misc.h"
+
+int swap = 0;
+USART_data_t USART_PC_Data;
+
+
+motorInfo lowerAct;
+motorInfo upperAct;
+stepperInfo gripStepper;
+rotateStepper baseStepper;
+
+#define LOWER 0
+#define UPPER 1
+
+#define GRIP 0
+#define RELEASE 1
+
+#define GRIP_BM_SERIAL (1 << 1)
+
+volatile bool canAcceptPackets = true;
+volatile bool IsPacketToParse = false;
+
+volatile unsigned char ARM_Dock_State = 0;
+unsigned char ARM_Dock_State_Prev = 0;
+
+volatile bool ShouldRECAL = 0;
+
+volatile unsigned char bufferIndex = 0;
+
+volatile long unsigned int TimeSinceInit = 0;
+long unsigned int TimePrevious = 0;
+
+volatile int v = 0;
+
+#define PACKETSIZE 10
+volatile char recieveBuffer[PACKETSIZE];
+volatile char SendBuffer[100];
+
+enum { HEADER, COMMAND, BASEROTVAL1, BASEROTVAL2, ACT1VAL1, ACT1VAL2, ACT2VAL1, ACT2VAL2, CHECKSUM, TAIL};
+	
+enum XMegaStates{
+	WaitForHost,
+	ARMControl
+} CurrentState = WaitForHost;
+
+void SetupResetTimer(){
+	TCD0.CTRLA = TC_CLKSEL_DIV1024_gc; //31250 counts per second with 32Mhz Processor
+	TCD0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCD0.PER = 31250;
+	TCD0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+}
+	
+void FlushSerialBuffer(USART_data_t *UsartBuffer){
+	while(USART_RXBufferData_Available(UsartBuffer)){
+		USART_RXBuffer_GetByte(UsartBuffer);
+	}
+}
+
+ISR(USARTC0_RXC_vect){
+	USART_RXComplete(&USART_PC_Data);
+	
+	if(USART_RXBufferData_Available(&USART_PC_Data)){
+		recieveBuffer[bufferIndex] = USART_RXBuffer_GetByte(&USART_PC_Data);
+		bufferIndex++;
+	}
+	
+	if((bufferIndex == PACKETSIZE)){
+		FlushSerialBuffer(&USART_PC_Data);
+		if(recieveBuffer[8] == (recieveBuffer[1] ^ recieveBuffer[2] ^ recieveBuffer[3] ^ recieveBuffer[4] ^ recieveBuffer[5] ^ recieveBuffer[6] ^ recieveBuffer[7])){
+			ShouldRECAL = recieveBuffer[1] & 0b00001000;
+  			ARM_Dock_State = recieveBuffer[1] & 0b00000100;
+			gripStepper.desiredGripState = !(recieveBuffer[1] & GRIP_BM_SERIAL); //0b00000010	
+			baseStepper.desiredPos = (recieveBuffer[3]+recieveBuffer[2]);
+			lowerAct.setDesired((double(recieveBuffer[5]+recieveBuffer[4]) / double(100)));
+			upperAct.setDesired((double(recieveBuffer[7]+recieveBuffer[6]) / double(100)));
+			IsPacketToParse = true;
+		}else{
+			while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+			USART_PutChar(&USARTC0, 255);
+			while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+			USART_PutChar(&USARTC0,0);  //Checksum failed
+			while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+			USART_PutChar(&USARTC0,255);
+
+			bufferIndex = 0;	
+		}
+		
+	}
+
+}
+
+ISR(USARTC0_DRE_vect){
+	USART_DataRegEmpty(&USART_PC_Data);
+}
+
+
+void SetXMEGA32MhzCalibrated(){
+	CCP = CCP_IOREG_gc;						//Disable register security for oscillator update
+	OSC.CTRL = OSC_RC32MEN_bm;				//Enable 32MHz oscillator
+	while(!(OSC.STATUS & OSC_RC32MRDY_bm)); //Wait for oscillator to be ready
+	CCP = CCP_IOREG_gc;						//Disable register security for clock update
+	CLK.CTRL = CLK_SCLKSEL_RC32M_gc;		//Switch to 32MHz clock
+
+
+	CCP = CCP_IOREG_gc;						//Disable register security for oscillator update
+	OSC.CTRL |= OSC_RC32KEN_bm;				//Enable 32Khz oscillator
+	while(!(OSC.STATUS & OSC_RC32KRDY_bm)); //Wait for oscillator to be ready
+	OSC.DFLLCTRL &= ~OSC_RC32MCREF_bm;		//Set up calibration source to be 32Khz crystal
+	DFLLRC32M.CTRL |= DFLL_ENABLE_bm;		//Enable calibration of 32Mhz oscillator
+}
+
+void SetupPCComms(){
+	PORTC.DIRSET = PIN3_bm;																			//Sets TX Pin as output
+	PORTC.DIRCLR = PIN2_bm;																			//Sets RX pin as input
+	
+	USART_InterruptDriver_Initialize(&USART_PC_Data, &USARTC0, USART_DREINTLVL_LO_gc);				//Initialize USARTC0 as interrupt driven serial and clear it's buffers
+	USART_Format_Set(USART_PC_Data.usart, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);	//Set the data format of 8 bits, no parity, 1 stop bit
+	USART_RxdInterruptLevel_Set(USART_PC_Data.usart, USART_RXCINTLVL_LO_gc);						//Enable the receive interrupt
+	USART_Baudrate_Set(&USARTC0, 207 , 0);															//Set baudrate to 9600 with 32Mhz system clock
+	USART_Rx_Enable(USART_PC_Data.usart);															//Enable receiving over serial
+	USART_Tx_Enable(USART_PC_Data.usart);															//Enable transmitting over serial
+	PMIC.CTRL |= PMIC_LOLVLEX_bm;																	//Enable PMIC interrupt level low (No idea what this does, but is necessary)
+}
+
+
+//Motor 1 is Gripper
+//Motor 2 is Base Stepper
+void DemInitThingsYouBeenDoing(){
+	SetXMEGA32MhzCalibrated();
+	SetupPCComms();
+	SetupResetTimer();
+	
+	//Setup Status and Error LEDS
+	PORTC.DIRSET = (PIN5_bm | PIN6_bm | PIN7_bm);
+	
+	//Setup Outputs
+	PORTD.DIRSET = (PIN0_bm | PIN1_bm | PIN2_bm | PIN3_bm | PIN4_bm | PIN5_bm | PIN6_bm | PIN7_bm);
+	PORTA.DIRSET = (PIN5_bm | PIN6_bm | PIN7_bm);  //First set of M settings
+	PORTB.DIRSET = (PIN0_bm | PIN1_bm | PIN2_bm);  //Second set of M settings
+
+	//Setup Inputs
+	PORTA.DIRCLR = (PIN2_bm); //Rotation Calibration
+	PORTA.DIRCLR = (PIN3_bm); //Grip Close
+	PORTB.DIRCLR = (PIN3_bm); //Grip Limit
+	PORTA.DIRCLR = (PIN4_bm); //'IsRoving' check
+		
+	PORTA.PIN3CTRL = PORT_OPC_PULLUP_gc;
+	PORTB.PIN3CTRL = PORT_OPC_PULLUP_gc;	
+
+	//GRIP STEPPER is MD1
+
+	//SETUP "UPPER" DRIVER
+	MD1_ENABLE();
+	
+	//Setup Microstepping
+	MD1_M0_CLR();
+	MD1_M1_CLR();
+	MD1_M2_SET();
+	
+	MD1_DIR_CLR();
+	MD1_STEP_CLR();
+	
+	
+	//BASE STEPPER is MD2
+	
+	//Motor Driver 2 setup
+	MD2_ENABLE();
+	
+	//Setup Microstepping
+	MD2_M0_SET();  //Small amount of micro stepping is sufficient 
+	MD2_M1_SET();
+	MD2_M2_CLR();
+	
+	MD2_DIR_CLR();
+	MD2_STEP_CLR();
+	
+	sei();
+}
+
+void SendStringPC(char *stufftosend){
+	for(int i = 0 ; stufftosend[i] != '\0' ; i++){
+		while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+		USART_PutChar(&USARTC0, stufftosend[i]);	
+	}
+}
+
+
+//DOCUMENTATION NEEDED :D
+double abs(double input){
+	if(input > 0)
+		return input;
+	else
+		return input * -1;
+}
+
+//PA1 is lower act
+
+//If a 0 is passed in, then the lower act is read
+//0 = LOWER ACT
+//1 = UPPER ACT
+int smoothADC(int act){
+	const int smoothFactor = 7;
+	int count = 0;
+	for(int i = 0; i < smoothFactor; ++i){
+		if(act == LOWER){ 
+			count += ReadADC(1,1);	
+		}
+		else if(act == UPPER) {
+			count += ReadADC(0,1);
+		}
+		_delay_ms(1);
+	}
+	return count/smoothFactor;
+}
+
+//lowerAct   upperAct
+void checkActPosition(){
+	
+	if (abs(lowerAct.currentPos - lowerAct.desiredPos) < lowerAct.acceptableError){
+		++lowerAct.acceptableCount;
+	}
+	else{
+		lowerAct.acceptableCount = 0;
+	}
+	if (abs(upperAct.currentPos - upperAct.desiredPos) < upperAct.acceptableError){
+		++upperAct.acceptableCount;
+	}
+	else{
+		upperAct.acceptableCount = 0;
+	}
+	
+	if(upperAct.acceptableCount >= upperAct.acceptableCountMax){
+		upperAct.disable();
+	}
+	if(lowerAct.acceptableCount >= upperAct.acceptableCountMax){
+		lowerAct.disable();
+	}
+	
+	
+	lowerAct.currentPos = smoothADC(LOWER)/58.13 -.41;
+	upperAct.currentPos = smoothADC(UPPER)/58.13 -.41;
+}
+
+int getMotorSpeed(int act){
+		
+	if(act == LOWER){
+		if(abs(lowerAct.currentPos - lowerAct.desiredPos) < lowerAct.slowRange/2)
+			return lowerAct.speed / 3;
+		else if(abs(lowerAct.currentPos - lowerAct.desiredPos) < lowerAct.slowRange)
+			return lowerAct.speed / 2;
+		else
+			return lowerAct.speed;
+	}
+	else if (act == UPPER){
+		if(abs(upperAct.currentPos - upperAct.desiredPos) < upperAct.slowRange/2)
+			return upperAct.speed / 3;
+		else if(abs(upperAct.currentPos - upperAct.desiredPos) < upperAct.slowRange)
+			return upperAct.speed / 2;
+		else
+			return upperAct.speed;
+	}
+	
+	
+	////////
+	return 0;
+}
+
+/*Returns a 1 or a -1, depending on whether the actuator needs to retract 
+  or extend
+*/
+int getMotorDir(int act){
+	if(act == LOWER){
+		if(!lowerAct.enabled)
+			return 0;
+		
+		if(lowerAct.currentPos > lowerAct.desiredPos)
+			return -1;
+		else
+			return 1;
+	}
+	else if(act == UPPER){
+		if(!upperAct.enabled)
+			return 0;
+		
+		if(upperAct.currentPos > upperAct.desiredPos)
+			return -1;
+		else
+			return 1;
+	}
+	/////////
+	return 0;
+}
+
+int main(void)
+{
+	DemInitThingsYouBeenDoing();							//All init moved to nicer spot
+	_delay_ms(1000);
+
+	
+	Sabertooth DriveSaber(&USARTD0, &PORTD);
+	
+	
+	upperAct.desiredPos = 3.0;
+	lowerAct.desiredPos = 3.5;
+	
+	//Wait until rover is unpaused
+	while(!CHECK_ISROVING());
+	
+	lowerAct.enable();
+	upperAct.enable();
+	
+	
+	/////////////Initial Calibration and Default Positions//////////////////////
+	while((lowerAct.enabled || upperAct.enabled)){
+		checkActPosition();
+		DriveSaber.ParsePacket(127+getMotorSpeed(LOWER)*getMotorDir(LOWER), 127+getMotorSpeed(UPPER)*getMotorDir(UPPER));
+		while(!CHECK_ISROVING()){
+			DriveSaber.ParsePacket(127,127);
+		}	
+	}
+	baseStepper.calibrateBase();
+	MD2_DIR_CLR();
+	baseStepper.rotateBase(0);  //Note that this function takes an angle relative
+	
+	
+	gripStepper.enable();							 //to the absolute 0 on the robot
+	gripStepper.processCommand(RELEASE);
+	/*
+	_delay_ms(5000);
+	gripStepper.enable();
+	gripStepper.processCommand(GRIP);
+	*/ 
+	/////////////////   DEBUG (and not wasting power) purposes!
+	//MD2_DISABLE();
+	/////////////////
+
+	/////////////Initial Calibration and Default Positions//////////////////////
+
+//	sprintf(SendBuffer, "Multiplier: %d \r\n  \r\n", (int) baseStepper.multiplier);
+//	SendStringPC(SendBuffer);								//Send Dem Strings
+	while(1){
+		if(CurrentState == WaitForHost){
+			SendStringPC("ID: ArmControl\r\n");
+			_delay_ms(500);
+			if(recieveBuffer[0] == 'r'){
+				CurrentState = ARMControl;
+				while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+				USART_PutChar(&USARTC0, 'r');
+				TimePrevious = TimeSinceInit;
+			}
+			bufferIndex = 0;
+		}else if(CurrentState == ARMControl){
+			if(IsPacketToParse){
+				if(ShouldRECAL == true){
+
+							
+					upperAct.desiredPos = 3.0;
+					lowerAct.desiredPos = 3.5;
+						
+					lowerAct.enable();
+					upperAct.enable();
+						
+					/////////////Initial Calibration and Default Positions//////////////////////
+					while((lowerAct.enabled || upperAct.enabled)){
+						checkActPosition();
+						DriveSaber.ParsePacket(127+getMotorSpeed(LOWER)*getMotorDir(LOWER), 127+getMotorSpeed(UPPER)*getMotorDir(UPPER));
+						while(!CHECK_ISROVING()){
+							DriveSaber.ParsePacket(127,127);
+						}
+					}
+
+					baseStepper.calibrateBase();
+					MD2_DIR_CLR();
+					baseStepper.rotateBase(0);  //Note that this function takes an angle relative
+						
+					if(gripStepper.desiredGripState){
+						gripStepper.enable();							 //to the absolute 0 on the robot
+						gripStepper.processCommand(RELEASE);	
+					}
+					
+					ShouldRECAL = false;
+
+				}else{
+					ERROR_SET();									//Show light when done with actuators
+					lowerAct.enable();						//Re-enable lower actuator
+					upperAct.enable();						//Re-enabled lower actuator
+
+					baseStepper.rotateBase(baseStepper.desiredPos);	//Move base to position
+					
+					checkActPosition();								//Check once to avoid loop is possible
+					while(lowerAct.enabled || upperAct.enabled){	//If a motor needs to move, do below
+						checkActPosition();							//Check positions
+						DriveSaber.ParsePacket(127+getMotorSpeed(LOWER)*getMotorDir(LOWER), 127+getMotorSpeed(LOWER)*getMotorDir(UPPER));	//Move to position
+						while(!CHECK_ISROVING()){
+							DriveSaber.ParsePacket(127,127);
+						}  //e-stop check
+					}												//Exit when done moving
+					
+
+					DriveSaber.ParsePacket(127,127);				//Stop actuators from moving any more
+				
+					if((gripStepper.desiredGripState == GRIP)){
+						gripStepper.enable();
+						gripStepper.processCommand(GRIP);
+					}else if(gripStepper.desiredGripState == RELEASE){
+						gripStepper.enable();
+						gripStepper.processCommand(RELEASE);
+
+					}
+				}
+				
+				IsPacketToParse = false;
+				ERROR_CLR();
+				while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+				USART_PutChar(&USARTC0, 255);
+				while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+				USART_PutChar(&USARTC0, 0b00000010 | CHECK_GRIP_CLOSE());
+				while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+				USART_PutChar(&USARTC0,255);
+				bufferIndex = 0;
+				TimePrevious = TimeSinceInit;
+			}
+			
+			//if((TimePrevious - TimeSinceInit) > MAXTIMEOUT){
+			//	CurrentState = WaitForHost;
+			//	bufferIndex = 0;
+			//}
+		}
+	}
+
+}
+
+ISR(TCD0_OVF_vect){
+	TimeSinceInit++;
+}
+
+
+
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/ArmControl.cppproj

@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>6.2</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.CPP</ToolchainName>
+    <ProjectGuid>{1fc16d6e-a0d0-480a-ba3e-d179a1655abb}</ProjectGuid>
+    <avrdevice>ATxmega32D4</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>CPP</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>ArmControl</AssemblyName>
+    <Name>ArmControl</Name>
+    <RootNamespace>ArmControl</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress />
+    <UncachedRange />
+    <OverrideVtorValue />
+    <BootSegment>2</BootSegment>
+    <eraseonlaunchrule>1</eraseonlaunchrule>
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <offline-documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.15.0" />
+        </dependencies>
+      </framework-data>
+    </AsfFrameworkConfig>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <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>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcccpp.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>DEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <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.compiler.miscellaneous.OtherFlags>-std=gnu99  -Wl,-7u,vfprintf -lprintf_flt -lm</avrgcc.compiler.miscellaneous.OtherFlags>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcccpp.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>DEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.optimization.level>Optimize (-O1)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.compiler.miscellaneous.OtherFlags>-Wl,-u,vfprintf -lprintf_flt -lm</avrgcccpp.compiler.miscellaneous.OtherFlags>
+        <avrgcccpp.compiler.miscellaneous.Verbose>True</avrgcccpp.compiler.miscellaneous.Verbose>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+        <avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="adc.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="adc.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="ArmControl.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="avr_compiler.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Misc.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Misc.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="motorInfo.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="motorInfo.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="rotateStepper.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="rotateStepper.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Sabertooth.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Sabertooth.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="stepperInfo.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="stepperInfo.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="usart_driver.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="usart_driver.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="XMegaMacros.h">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/ArmControl.d

@@ -0,0 +1,91 @@
+ArmControl.d ArmControl.o: .././ArmControl.cpp \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ .././usart_driver.h .././Sabertooth.h .././XMegaMacros.h .././adc.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\ctype.h \
+ .././motorInfo.h .././stepperInfo.h .././rotateStepper.h .././Misc.h
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+.././usart_driver.h:
+
+.././Sabertooth.h:
+
+.././XMegaMacros.h:
+
+.././adc.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\ctype.h:
+
+.././motorInfo.h:
+
+.././stepperInfo.h:
+
+.././rotateStepper.h:
+
+.././Misc.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/ArmControl.eep

@@ -0,0 +1 @@
+:00000001FF

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/ArmControl.hex

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OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/Makefile

@@ -0,0 +1,181 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL := cmd.exe
+RM := rm -rf
+
+USER_OBJS :=
+
+LIBS := 
+PROJ := 
+
+O_SRCS := 
+C_SRCS := 
+S_SRCS := 
+S_UPPER_SRCS := 
+OBJ_SRCS := 
+ASM_SRCS := 
+PREPROCESSING_SRCS := 
+OBJS := 
+OBJS_AS_ARGS := 
+C_DEPS := 
+C_DEPS_AS_ARGS := 
+EXECUTABLES := 
+OUTPUT_FILE_PATH :=
+OUTPUT_FILE_PATH_AS_ARGS :=
+AVR_APP_PATH :=$$$AVR_APP_PATH$$$
+QUOTE := "
+ADDITIONAL_DEPENDENCIES:=
+OUTPUT_FILE_DEP:=
+LIB_DEP:=
+
+# Every subdirectory with source files must be described here
+SUBDIRS := 
+
+
+# Add inputs and outputs from these tool invocations to the build variables 
+C_SRCS +=  \
+../adc.cpp \
+../ArmControl.cpp \
+../Misc.cpp \
+../motorInfo.cpp \
+../rotateStepper.cpp \
+../Sabertooth.cpp \
+../stepperInfo.cpp \
+../usart_driver.c
+
+
+PREPROCESSING_SRCS += 
+
+
+ASM_SRCS += 
+
+
+OBJS +=  \
+adc.o \
+ArmControl.o \
+Misc.o \
+motorInfo.o \
+rotateStepper.o \
+Sabertooth.o \
+stepperInfo.o \
+usart_driver.o
+
+OBJS_AS_ARGS +=  \
+adc.o \
+ArmControl.o \
+Misc.o \
+motorInfo.o \
+rotateStepper.o \
+Sabertooth.o \
+stepperInfo.o \
+usart_driver.o
+
+C_DEPS +=  \
+adc.d \
+ArmControl.d \
+Misc.d \
+motorInfo.d \
+rotateStepper.d \
+Sabertooth.d \
+stepperInfo.d \
+usart_driver.d
+
+C_DEPS_AS_ARGS +=  \
+adc.d \
+ArmControl.d \
+Misc.d \
+motorInfo.d \
+rotateStepper.d \
+Sabertooth.d \
+stepperInfo.d \
+usart_driver.d
+
+OUTPUT_FILE_PATH +=ArmControl.elf
+
+OUTPUT_FILE_PATH_AS_ARGS +=ArmControl.elf
+
+ADDITIONAL_DEPENDENCIES:=
+
+OUTPUT_FILE_DEP:= ./makedep.mk
+
+LIB_DEP+= 
+
+# AVR32/GNU C Compiler
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+./%.o: .././%.c
+	@echo Building file: $<
+	@echo Invoking: AVR8/GNU C Compiler : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE)  -x c -funsigned-char -funsigned-bitfields -DDEBUG  -O1 -ffunction-sections -fdata-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atxmega32d4 -c -std=gnu99  -Wl,-7u,vfprintf -lprintf_flt -lm -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+	
+
+./%.o: .././%.cpp
+	@echo Building file: $<
+	@echo Invoking: AVR8/GNU C Compiler : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -funsigned-char -funsigned-bitfields -DDEBUG  -O1 -ffunction-sections -fdata-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atxmega32d4 -c -Wl,-u,vfprintf -lprintf_flt -lm -v -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+	
+
+
+
+# AVR32/GNU Preprocessing Assembler
+
+
+
+# AVR32/GNU Assembler
+
+
+
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+endif
+
+# Add inputs and outputs from these tool invocations to the build variables 
+
+# All Target
+all: $(OUTPUT_FILE_PATH) $(ADDITIONAL_DEPENDENCIES)
+
+$(OUTPUT_FILE_PATH): $(OBJS) $(USER_OBJS) $(OUTPUT_FILE_DEP) $(LIB_DEP)
+	@echo Building target: $@
+	@echo Invoking: AVR8/GNU Linker : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -Wl,-Map="ArmControl.map" -Wl,--start-group -Wl,-lm  -Wl,--end-group -Wl,--gc-sections -mmcu=atxmega32d4  
+	@echo Finished building target: $@
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature -R .user_signatures  "ArmControl.elf" "ArmControl.hex"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -j .eeprom  --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0  --no-change-warnings -O ihex "ArmControl.elf" "ArmControl.eep" || exit 0
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objdump.exe" -h -S "ArmControl.elf" > "ArmControl.lss"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O srec -R .eeprom -R .fuse -R .lock -R .signature -R .user_signatures "ArmControl.elf" "ArmControl.srec"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-size.exe" "ArmControl.elf"
+	
+	
+
+
+
+
+
+# Other Targets
+clean:
+	-$(RM) $(OBJS_AS_ARGS) $(EXECUTABLES)  
+	-$(RM) $(C_DEPS_AS_ARGS)   
+	rm -rf "ArmControl.elf" "ArmControl.a" "ArmControl.hex" "ArmControl.lss" "ArmControl.eep" "ArmControl.map" "ArmControl.srec" "ArmControl.usersignatures"
+	

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/Misc.d

@@ -0,0 +1,42 @@
+Misc.d Misc.o: .././Misc.cpp .././Misc.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ .././XMegaMacros.h
+
+.././Misc.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+.././XMegaMacros.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/Sabertooth.d

@@ -0,0 +1,68 @@
+Sabertooth.d Sabertooth.o: .././Sabertooth.cpp .././Sabertooth.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ .././usart_driver.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h
+
+.././Sabertooth.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/adc.d

@@ -0,0 +1,71 @@
+adc.d adc.o: .././adc.cpp .././adc.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\ctype.h \
+ .././usart_driver.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h
+
+.././adc.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\ctype.h:
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/makedep.mk

@@ -0,0 +1,20 @@
+################################################################################
+# Automatically-generated file. Do not edit or delete the file
+################################################################################
+
+adc.cpp
+
+ArmControl.cpp
+
+Misc.cpp
+
+motorInfo.cpp
+
+rotateStepper.cpp
+
+Sabertooth.cpp
+
+stepperInfo.cpp
+
+usart_driver.c
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/motorInfo.d

@@ -0,0 +1,3 @@
+motorInfo.d motorInfo.o: .././motorInfo.cpp .././motorInfo.h
+
+.././motorInfo.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/rotateStepper.d

@@ -0,0 +1,80 @@
+rotateStepper.d rotateStepper.o: .././rotateStepper.cpp \
+ .././rotateStepper.h .././XMegaMacros.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ .././stepperInfo.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ .././usart_driver.h
+
+.././rotateStepper.h:
+
+.././XMegaMacros.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+.././stepperInfo.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+.././usart_driver.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/stepperInfo.d

@@ -0,0 +1,77 @@
+stepperInfo.d stepperInfo.o: .././stepperInfo.cpp \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ .././stepperInfo.h .././XMegaMacros.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ .././usart_driver.h
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+.././stepperInfo.h:
+
+.././XMegaMacros.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+.././usart_driver.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Debug/usart_driver.d

@@ -0,0 +1,66 @@
+usart_driver.d usart_driver.o: .././usart_driver.c .././usart_driver.h \
+ .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Misc.cpp

@@ -0,0 +1,17 @@
+/*
+ * CPPFile1.cpp
+ *
+ * Created: 5/27/2014 10:19:21 PM
+ *  Author: Corwin
+ */ 
+#include "Misc.h"
+#include <avr/io.h>
+#include "XMegaMacros.h"
+
+void DockArm(unsigned char dockState){
+	if(dockState == DOCK_ARM){
+		ERROR_SET();
+	}else if(dockState == UNDOCK_ARM){
+		
+	}
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Misc.h

@@ -0,0 +1,19 @@
+/*
+ * Misc.h
+ *
+ * Created: 5/27/2014 10:19:12 PM
+ *  Author: Corwin
+ */ 
+
+#ifndef MISC_H_
+#define MISC_H_
+
+#define DOCK_ARM 1
+#define UNDOCK_ARM 0
+
+#include <avr/io.h>
+
+void DockArm(unsigned char dockState);
+
+
+#endif /* MISC_H_ */

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Sabertooth.cpp

@@ -0,0 +1,114 @@
+/* 
+* Sabertooth.cpp
+*
+* Created: 4/30/2014 1:08:16 PM
+* Author: Corwin
+*/
+
+
+#include "Sabertooth.h"
+#include <avr/io.h>
+#include <util/delay.h>
+
+
+Sabertooth::Sabertooth(USART_t *USART_SaberUsart, PORT_t * SaberPORT)
+{
+	Sabertooth_USART = USART_SaberUsart;				//Sets the private variable to the USART being used
+	Sabertooth_PORT = SaberPORT;						//Sets the private variable for the PORT the USART is on
+	
+	Sabertooth_PORT->DIRSET = PIN3_bm;					//Sets the TX pin for the USART to an output
+	USART_Format_Set(Sabertooth_USART, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);	//Sets the Sabertooth USART to run in 8 bit data, no parity, and 1 stop bit, 
+	USART_Baudrate_Set(Sabertooth_USART, 207 , 0);		//Sets the Sabertooth baud rate to 9600 when running at 32Mhz system clock
+	USART_Tx_Enable(Sabertooth_USART);					//Enable the USART transmit capabilities
+	_delay_ms(100);										//Delay to let things settle
+	
+	USART_PutChar(Sabertooth_USART, AUTOBAUD_BYTE);		//Send the autobaud byte to get the sabertooth communicating
+	SendDriveCmd(14, 20);								//Sets the communication watchdog on the sabertooth to (x*100ms) It's currently set to two seconds.
+	StopAll();											//Everything is now initialized, stop all motor movement to account for random noise or failed startups
+}
+
+void Sabertooth::DriveTest(){
+	
+	int i;
+	for(i = 0; i < 64 ; i++){
+		SendDriveCmd(LEFT_FORWARD, i);
+		SendDriveCmd(RIGHT_FORWARD, i);
+		_delay_ms(10);
+	}
+	for( ; i > 0 ; i--){
+		SendDriveCmd(LEFT_FORWARD, i);
+		SendDriveCmd(RIGHT_FORWARD, i);
+		_delay_ms(10);
+	}
+	
+		for(i = 0; i < 64 ; i++){
+			SendDriveCmd(LEFT_BACK, i);
+			SendDriveCmd(RIGHT_BACK, i);
+			_delay_ms(10);
+		}
+		for( ; i > 0 ; i--){
+			SendDriveCmd(LEFT_BACK, i);
+			SendDriveCmd(RIGHT_BACK, i);
+			_delay_ms(10);
+		}
+		
+}
+
+
+//Left = lower act
+//Right = upper act
+void Sabertooth::ParsePacket(unsigned char left, unsigned char right){
+	unsigned char command_left = LEFT_FORWARD;
+	unsigned char value_left = 0;
+	unsigned char command_right = RIGHT_FORWARD;
+	unsigned char value_right = 0;
+	
+	if(left == 127){
+		command_left = LEFT_FORWARD;
+		value_left = 0;
+	}else if(left < 127){
+		command_left = LEFT_BACK;
+		value_left = (127-left);
+	}else if(left > 127){
+		command_left = LEFT_FORWARD;
+		value_left = (left-127);
+	}
+	
+	if(right == 127){
+		command_right = RIGHT_FORWARD;
+		value_right = 0;
+		}else if(right < 127){
+		command_right = RIGHT_BACK;
+		value_right = (127-right);
+		}else if(right > 127){
+		command_right = RIGHT_FORWARD;
+		value_right = (right-127);
+	}
+	
+	SendDriveCmd(command_left, value_left);
+	SendDriveCmd(command_right, value_right);
+}
+
+void Sabertooth::StopAll(){
+	SendDriveCmd(LEFT_FORWARD, 0);
+	SendDriveCmd(RIGHT_FORWARD, 0);
+}
+
+unsigned char Sabertooth::SaberChecksum(unsigned char command, unsigned char value){
+	return ((SABERTOOTHADDRESS+command+value) & 127);
+}
+
+void Sabertooth::SendDriveCmd(char command, char value){
+	////////////////////////////////Testing.....
+	//while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));						//Necessary to make sure we don't overwrite data in the buffer
+	//USART_PutChar(Sabertooth_USART, AUTOBAUD_BYTE);								//Send the autobaud byte to get the sabertooth communicating
+	////////////////////////////////
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));						//Necessary to make sure we don't overwrite data in the buffer
+	USART_PutChar(Sabertooth_USART, SABERTOOTHADDRESS);							//Sends the address to the sabertooth
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));
+	USART_PutChar(Sabertooth_USART, command);									//Sends the command to the sabertooth
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));
+	USART_PutChar(Sabertooth_USART, value);										//Sends the value or speed to the sabertooth
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));
+	USART_PutChar(Sabertooth_USART, SaberChecksum(command, value));				//Send the checksum of all these values to the sabertooth
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/Sabertooth.h

@@ -0,0 +1,54 @@
+/* 
+* Sabertooth.h
+*
+* Created: 4/30/2014 1:08:16 PM
+* Author: Corwin
+*/
+
+
+#ifndef __SABERTOOTH_H__
+#define __SABERTOOTH_H__
+
+#define F_CPU 32000000UL
+#define SABERTOOTHADDRESS 128
+#define AUTOBAUD_BYTE 170
+
+#define LEFT_FORWARD 0
+#define LEFT_BACK 1
+#define RIGHT_FORWARD 4
+#define RIGHT_BACK 5
+
+
+#include <avr/io.h>
+#include <util/delay.h>
+
+extern "C"{
+	#include "usart_driver.h"
+	#include "avr_compiler.h"
+};
+
+class Sabertooth
+{
+//variables
+public:
+protected:
+private:
+
+//functions
+public:
+	Sabertooth(USART_t *USART_SaberUsart, PORT_t * SaberPORT);
+	void DriveTest();
+	void StopAll();
+	unsigned char SaberChecksum(unsigned char command, unsigned char value);
+	void ParsePacket(unsigned char left, unsigned char right);
+protected:
+private:
+	void SendDriveCmd(char command, char value);
+	Sabertooth( const Sabertooth &c );
+	Sabertooth& operator=( const Sabertooth &c );
+	USART_t *Sabertooth_USART;
+	PORT_t *Sabertooth_PORT;
+
+}; //Sabertooth
+
+#endif //__SABERTOOTH_H__

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/XMegaMacros.h

@@ -0,0 +1,73 @@
+/*
+ * XMegaMacros.h
+ *
+ * Created: 4/25/2014 5:51:17 AM
+ *  Author: Nick
+ */ 
+
+
+#ifndef XMEGAMACROS_H_
+#define XMEGAMACROS_H_
+
+//Custom Defined Macros
+#define STATUS1_SET(void) (PORTC.OUTSET = PIN6_bm)
+#define STATUS1_CLR(void) (PORTC.OUTCLR = PIN6_bm)
+
+#define STATUS2_SET(void) (PORTC.OUTSET = PIN5_bm)
+#define STATUS2_CLR(void) (PORTC.OUTCLR = PIN5_bm)
+
+#define ERROR_SET(void) (PORTC.OUTSET = PIN7_bm)
+#define ERROR_CLR(void) (PORTC.OUTCLR = PIN7_bm)
+
+//Motor 1 enable/disables
+#define MD1_ENABLE(void) (PORTD.OUTCLR = PIN6_bm)
+#define MD1_DISABLE(void) (PORTD.OUTSET = PIN6_bm)
+
+#define MD2_ENABLE(void) (PORTD.OUTCLR = PIN2_bm)
+#define MD2_DISABLE(void) (PORTD.OUTSET = PIN2_bm)
+
+//Motor 1 M enable/disables
+#define MD1_M0_SET(void) (PORTA.OUTSET = PIN5_bm)
+#define MD1_M1_SET(void) (PORTA.OUTSET = PIN6_bm)
+#define MD1_M2_SET(void) (PORTA.OUTSET = PIN7_bm)
+
+#define MD1_M0_CLR(void) (PORTA.OUTCLR = PIN5_bm)
+#define MD1_M1_CLR(void) (PORTA.OUTCLR = PIN6_bm)
+#define MD1_M2_CLR(void) (PORTA.OUTCLR = PIN7_bm)
+
+#define MD2_M0_SET(void) (PORTB.OUTSET = PIN0_bm)
+#define MD2_M1_SET(void) (PORTB.OUTSET = PIN1_bm)
+#define MD2_M2_SET(void) (PORTB.OUTSET = PIN2_bm)
+
+#define MD2_M0_CLR(void) (PORTB.OUTCLR = PIN0_bm)
+#define MD2_M1_CLR(void) (PORTB.OUTCLR = PIN1_bm)
+#define MD2_M2_CLR(void) (PORTB.OUTCLR = PIN2_bm)
+
+//Set direction macros
+#define MD1_DIR_SET(void) (PORTD.OUTSET = PIN4_bm)
+#define MD1_DIR_CLR(void) (PORTD.OUTCLR = PIN4_bm)
+
+#define MD2_DIR_SET(void) (PORTD.OUTSET = PIN0_bm)
+#define MD2_DIR_CLR(void) (PORTD.OUTCLR = PIN0_bm)
+
+//Set step macros
+#define MD1_STEP_SET(void) (PORTD.OUTSET = PIN5_bm)
+#define MD1_STEP_CLR(void) (PORTD.OUTCLR = PIN5_bm)
+
+#define MD2_STEP_SET(void) (PORTD.OUTSET = PIN1_bm)
+#define MD2_STEP_CLR(void) (PORTD.OUTCLR = PIN1_bm)
+
+//Limit switch macros
+#define CHECK_GRIP_CLOSE(void) (!(PORTA.IN & PIN3_bm))  //Returns true if grip close
+#define CHECK_GRIP_LIMIT(void) (PORTB.IN & PIN3_bm)     //Returns true if a limit switch has been pressed
+#define CHECK_CAL(void) (PORTA.IN & PIN2_bm)            //Returns true if cal limit switch has been pressed
+
+#define CHECK_ISROVING(void) (PORTA.IN & PIN4_bm)		//Returns true if rover's status is 'roving
+														//Implied to be false during e-stop condition
+
+
+//#define BASE_ROT_LIMIT
+
+
+
+#endif /* XMEGAMACROS_H_ */

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/adc.cpp

@@ -0,0 +1,43 @@
+/*
+ * adc.cpp
+ *
+ * Created: 5/6/2014 6:39:20 PM
+ *  Author: Nick
+ */ 
+
+#include "adc.h"
+
+
+uint8_t ReadSignatureByte(uint16_t Address)
+{
+	NVM_CMD = NVM_CMD_READ_CALIB_ROW_gc;
+	uint8_t Result;
+	__asm__ ("lpm %0, Z\n" : "=r" (Result) : "z" (Address));
+	NVM_CMD = NVM_CMD_NO_OPERATION_gc;
+	return Result;
+}
+
+uint16_t ReadADC(uint8_t Channel, uint8_t ADCMode) // Mode = 1 for single ended, 0 for internal
+{
+	if ((ADCA.CTRLA & ADC_ENABLE_bm) == 0)
+	{
+		ADCA.CTRLA = ADC_ENABLE_bm ; // Enable the ADC
+		ADCA.CTRLB = ADC_RESOLUTION_8BIT_gc; // Signed Mode
+		ADCA.REFCTRL = ADC_REFSEL_VCC_gc; // Internal 1v ref
+		ADCA.EVCTRL = 0; // no events
+		ADCA.PRESCALER = ADC_PRESCALER_DIV256_gc ;
+		ADCA.CALL = ReadSignatureByte(0x20) ; //ADC Calibration Byte 0
+		ADCA.CALH = ReadSignatureByte(0x21) ; //ADC Calibration Byte 1
+		_delay_us(400); // Wait at least 25 clocks
+	}
+	ADCA.CH0.CTRL = ADC_CH_GAIN_1X_gc | ADCMode ; // Gain = 1, Single Ended
+	ADCA.CH0.MUXCTRL = (Channel<<3);
+	ADCA.CH0.INTCTRL = 0 ; // No interrupt
+	for(uint8_t Waste = 0; Waste<2; Waste++)
+	{
+		ADCA.CH0.CTRL |= ADC_CH_START_bm; // Start conversion
+		while (ADCA.INTFLAGS==0) ; // Wait for complete
+		ADCA.INTFLAGS = ADCA.INTFLAGS ;
+	 }
+	return ADCA.CH0RES ;
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/adc.h

@@ -0,0 +1,28 @@
+/*
+ * adc.h
+ *
+ * Contains headers for ADC
+ *
+ * Created: 5/6/2014 6:36:17 PM
+ *  Author: Nick
+ */ 
+
+
+#ifndef ADC_H_
+#define ADC_H_
+
+#define F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <ctype.h>
+
+extern "C"{
+	#include "usart_driver.h"
+	#include "avr_compiler.h"
+};
+
+uint8_t ReadSignatureByte(uint16_t Address);
+uint16_t ReadADC(uint8_t Channel, uint8_t ADCMode); // Mode = 1 for single ended, 0 for internal
+
+#endif /* ADC_H_ */

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/avr_compiler.h

@@ -0,0 +1,154 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief This file implements some macros that makes the IAR C-compiler and
+ *        avr-gcc work with the same code base for the AVR architecture.
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+#ifndef COMPILER_AVR_H
+#define COMPILER_AVR_H
+
+#ifndef F_CPU
+/*! \brief Define default CPU frequency, if this is not already defined. */
+#define F_CPU 2000000UL
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+/*! \brief This macro will protect the following code from interrupts. */
+#define AVR_ENTER_CRITICAL_REGION( ) uint8_t volatile saved_sreg = SREG; \
+                                     cli();
+
+/*! \brief This macro must always be used in conjunction with AVR_ENTER_CRITICAL_REGION
+ *        so the interrupts are enabled again.
+ */
+#define AVR_LEAVE_CRITICAL_REGION( ) SREG = saved_sreg;
+
+#if defined( __ICCAVR__ )
+
+#include <inavr.h>
+#include <ioavr.h>
+#include <intrinsics.h>
+#include <pgmspace.h>
+
+#ifndef __HAS_ELPM__
+#define _MEMATTR  __flash
+#else /* __HAS_ELPM__ */
+#define _MEMATTR  __farflash
+#endif /* __HAS_ELPM__ */
+
+/*! \brief Perform a delay of \c us microseconds.
+ *
+ *  The macro F_CPU is supposed to be defined to a constant defining the CPU
+ *  clock frequency (in Hertz).
+ *
+ *  The maximal possible delay is 262.14 ms / F_CPU in MHz.
+ *
+ *  \note For the IAR compiler, currently F_CPU must be a
+ *        multiple of 1000000UL (1 MHz).
+ */
+#define delay_us( us )   ( __delay_cycles( ( F_CPU / 1000000UL ) * ( us ) ) )
+
+/*! \brief Preprocessor magic.
+ *
+ *  Some preprocessor magic to allow for a header file abstraction of
+ *  interrupt service routine declarations for the IAR compiler.  This
+ *  requires the use of the C99 _Pragma() directive (rather than the
+ *  old #pragma one that could not be used as a macro replacement), as
+ *  well as two different levels of preprocessor concetanations in
+ *  order to do both, assign the correct interrupt vector name, as well
+ *  as construct a unique function name for the ISR.
+ *
+ *  \note Do *NOT* try to reorder the macros below, as this will only
+ *        work in the given order.
+ */
+#define PRAGMA(x) _Pragma( #x )
+#define ISR(vec) PRAGMA( vector=vec ) __interrupt void handler_##vec(void)
+#define sei( ) (__enable_interrupt( ))
+#define cli( ) (__disable_interrupt( ))
+
+/*! \brief Define the no operation macro. */
+#define nop( ) (__no_operation())
+
+/*! \brief Define the watchdog reset macro. */
+#define watchdog_reset( ) (__watchdog_reset( ))
+
+
+#define INLINE PRAGMA( inline=forced ) static
+
+#define FLASH_DECLARE(x) _MEMATTR x
+#define FLASH_STRING(x) ((_MEMATTR const char *)(x))
+#define FLASH_STRING_T  char const _MEMATTR *
+#define FLASH_BYTE_ARRAY_T uint8_t const _MEMATTR *
+#define PGM_READ_BYTE(x) *(x)
+#define PGM_READ_WORD(x) *(x)
+
+#define SHORTENUM /**/
+
+#elif defined( __GNUC__ )
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+
+/*! \brief Define the delay_us macro for GCC. */
+#define delay_us( us )   (_delay_us( us ))
+
+#define INLINE static inline
+
+/*! \brief Define the no operation macro. */
+#define nop()   do { __asm__ __volatile__ ("nop"); } while (0)
+
+#define MAIN_TASK_PROLOGUE int
+
+
+#define MAIN_TASK_EPILOGUE() return -1;
+
+#define SHORTENUM __attribute__ ((packed))
+
+#else
+#error Compiler not supported.
+#endif
+
+#endif
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/motorInfo.cpp

@@ -0,0 +1,43 @@
+/* 
+* motorInfo.cpp
+*
+* Created: 5/7/2014 3:17:28 AM
+* Author: Nick
+*/
+
+//LINEAR ACTUATOR REFERENCE DIRECTION
+//- retract outer, retract inner
+
+
+#include "motorInfo.h"
+
+// default constructor
+motorInfo::motorInfo() {
+	acceptableCount = 0;
+	acceptableCountMax = 5;
+	acceptableError = .2;  //Needs calibration
+	slowRange = .75;
+	speed = 100;
+	enabled = 0;
+	
+	//currentPos = 0;
+} //motorInfo
+
+// default destructor
+motorInfo::~motorInfo() {
+	
+} //~motorInfo
+
+
+void motorInfo::enable(){
+	enabled = 1;
+}
+
+void motorInfo::disable(){
+	enabled = 0;
+}
+
+
+void motorInfo::setDesired(float desired){
+	desiredPos = desired; //Mutate desiredPos
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/motorInfo.h

@@ -0,0 +1,44 @@
+/* 
+* motorInfo.h
+*
+* Created: 5/7/2014 3:17:28 AM
+* Author: Nick
+*/
+
+
+#ifndef __MOTORINFO_H__
+#define __MOTORINFO_H__
+
+
+class motorInfo
+{
+//variables
+public:
+	int acceptableCountMax;
+	int acceptableCount;
+	double acceptableError;
+	double slowRange;
+	int speed;
+	int enabled;
+	
+	double currentPos;  //Current pos in inches
+	volatile double desiredPos;  //Desired pos in inches
+	
+protected:
+private:
+
+//functions
+public:
+	motorInfo();
+	~motorInfo();
+	void enable();
+	void disable();
+	void setDesired(float desired);
+protected:
+private:
+	motorInfo( const motorInfo &c );
+	motorInfo& operator=( const motorInfo &c );
+
+}; //motorInfo
+
+#endif //__MOTORINFO_H__

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/rotateStepper.cpp

@@ -0,0 +1,114 @@
+/* 
+* rotateStepper.cpp
+*
+* Created: 5/7/2014 7:12:28 AM
+* Author: Nick
+*/
+
+#define F_CPU 32000000UL
+
+#include "rotateStepper.h"
+#include "XMegaMacros.h"
+
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdio.h>
+
+#include "stepperInfo.h"
+
+
+extern "C" {
+	#include "avr_compiler.h"
+	#include "usart_driver.h"
+};
+
+// default constructor
+rotateStepper::rotateStepper() {
+	calSpan = 255; //TODO: Set to actual value
+	multiplier = -1; //Invalid (not set) state
+	
+	currentAngle = 0; //It will have its reference based off of the 2nd limit switch,
+					  //but the interface function will minus the amount to make 0 forward
+} //rotateStepper
+
+// default destructor
+rotateStepper::~rotateStepper()
+{
+} //~rotateStepper
+
+void rotateStepper::rotateBase(int desiredAngle){
+	//NEED INPUT CHEKCING
+	
+	int zeroedAngle = desiredAngle + 36.09;
+	
+	moveBase(zeroedAngle - currentAngle);
+	currentAngle = currentAngle + (zeroedAngle - currentAngle);
+	
+}
+
+
+void rotateStepper::calibrateBase(){
+	bool calInProgress = true;
+	bool calFirstPress = false;
+
+	//bool calSecondPress = false;
+	
+	int calButtonState;
+	
+	int stepCount = 0;
+	
+	MD2_DIR_CLR(); //Set arm to turn counter-clockwise
+	
+	while (calInProgress){
+		while(!CHECK_ISROVING());
+		calButtonState = CHECK_CAL();
+
+		if(calButtonState && !calFirstPress){
+			
+			calFirstPress = true;
+			MD2_DIR_SET();  //Sets arm to clockwise
+			_delay_ms(1200);  //For gracefulness
+		}
+		
+		if(calFirstPress == true)
+			++stepCount;
+			
+		if(calFirstPress && stepCount > 150 && CHECK_CAL()){
+			calInProgress = false;
+		}
+		
+		MD2_STEP_CLR();
+		_delay_us(600);
+		MD2_STEP_SET();
+		_delay_us(600);	
+		
+	}	
+	currentAngle = 0;
+	multiplier = stepCount / calSpan;
+	_delay_ms(1200);  //For gracefulness
+}
+
+
+//Multiplier is steps per degree
+
+//Helper function
+void rotateStepper::moveBase(int degreesToMove){
+
+	if (degreesToMove > 0)
+		MD2_DIR_CLR();  //Counter Clockwise
+	else
+		MD2_DIR_SET();  //Clockwise
+	
+	int stepsToMove = abs(degreesToMove) * multiplier;
+	
+	for(int i = 0; i < stepsToMove; ++i){
+		while(!CHECK_ISROVING());  //e-stop check
+		
+		MD2_STEP_CLR();
+		_delay_us(400);
+		MD2_STEP_SET();
+		_delay_us(500);
+	}
+	
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/rotateStepper.h

@@ -0,0 +1,43 @@
+/* 
+* rotateStepper.h
+*
+* Created: 5/7/2014 7:12:28 AM
+* Author: Nick
+*/
+
+
+#ifndef __ROTATESTEPPER_H__
+#define __ROTATESTEPPER_H__
+
+
+class rotateStepper
+{
+//variables
+public:
+	double multiplier;
+	double calSpan;
+	
+	int currentAngle;
+	volatile int desiredPos;
+protected:
+private:
+
+//functions
+public:
+	rotateStepper();
+	~rotateStepper();
+	
+	void rotateBase(int desiredAngle);
+	void calibrateBase();
+	
+	void moveBase(int degreesToMove); //Helper function
+protected:
+private:
+	
+	
+	rotateStepper( const rotateStepper &c );
+	rotateStepper& operator=( const rotateStepper &c );
+
+}; //rotateStepper
+
+#endif //__ROTATESTEPPER_H__

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/stepperInfo.cpp

@@ -0,0 +1,107 @@
+/* 
+* stepperInfo.cpp
+*
+* Created: 5/7/2014 6:19:00 AM
+* Author: Nick
+*/
+
+#define F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdio.h>
+
+#include "stepperInfo.h"
+
+extern "C" {
+	#include "avr_compiler.h"
+	#include "usart_driver.h"
+	
+};
+
+extern void SendStringPC(char *stufftosend);
+
+// default constructor
+stepperInfo::stepperInfo() {
+	enabled = 0;
+	currentState = -1;
+	init = 1; //Init state (ignore first push)
+} //stepperInfo
+
+// default destructor
+stepperInfo::~stepperInfo()
+{
+} //~stepperInfo
+
+
+//Used for the gripping stepper
+void stepperInfo::processCommand(int cmd){
+	if(!enabled)
+		return;  //TODO: MAKE BETTER
+		
+	if(cmd != GRIP && cmd != RELEASE)
+		return;
+		
+	if(cmd == currentState)
+		return;
+		
+	currentState = cmd;
+	
+	//char sendBuffer[200];
+	//sprintf(sendBuffer, "Reached process command");
+	//SendStringPC(sendBuffer);
+	
+	
+	//GET DIRECTION
+	//CLR IS OUT
+	
+	//SET is grip
+	//CLR is release
+	if(cmd == GRIP)
+		MD1_DIR_SET();
+	else if (cmd == RELEASE)
+		MD1_DIR_CLR();
+		
+	if(!init){
+		for(int i = 0; i < 10000; ++i){
+			
+			while(!CHECK_ISROVING());  //e-stop check
+
+			MD1_STEP_SET();
+			_delay_us(50);
+			MD1_STEP_CLR();
+			_delay_us(500);
+		}
+	}
+	else {
+		init = 0;
+	}
+	
+	//MOVE UNTIL LIMIT OR GRIP
+	if(cmd == GRIP){
+		for(long i = 0; i < 185000; ++i){
+		
+			while(!CHECK_ISROVING());  //e-stop check
+
+			MD1_STEP_SET();
+			_delay_us(20);
+			MD1_STEP_CLR();
+			_delay_us(40);
+		}		
+	}else if(cmd == RELEASE){
+		while(!CHECK_GRIP_LIMIT()){
+			while(!CHECK_ISROVING());  //e-stop check
+			MD1_STEP_SET();
+			_delay_us(20);
+			MD1_STEP_CLR();
+			_delay_us(40);
+		}	
+	}	
+	enabled = 0;
+	
+}
+
+
+void stepperInfo::enable(){
+	enabled = 1;
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/stepperInfo.h

@@ -0,0 +1,40 @@
+/* 
+* stepperInfo.h
+*
+* Created: 5/7/2014 6:19:00 AM
+* Author: Nick
+*/
+
+#include "XMegaMacros.h"
+
+#ifndef __STEPPERINFO_H__
+#define __STEPPERINFO_H__
+
+#define GRIP 0
+#define RELEASE 1
+
+class stepperInfo
+{
+//variables
+public:
+	int enabled;
+	int currentState;
+	int init;
+	volatile unsigned char desiredGripState;
+protected:
+private:
+
+//functions
+public:
+	stepperInfo();
+	~stepperInfo();
+	void processCommand(int cmd);
+	void enable();
+protected:
+private:
+	stepperInfo( const stepperInfo &c );
+	stepperInfo& operator=( const stepperInfo &c );
+
+}; //stepperInfo
+
+#endif //__STEPPERINFO_H__

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/usart_driver.c

@@ -0,0 +1,320 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief
+ *      XMEGA USART driver source file.
+ *
+ *      This file contains the function implementations the XMEGA interrupt
+ *      and polled USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ *      Some functions use the following construct:
+ *          "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
+ *      Although the use of the ternary operator ( if ? then : else ) is discouraged,
+ *      in some occasions the operator makes it possible to write pretty clean and
+ *      neat code. In this driver, the construct is used to set or not set a
+ *      configuration bit based on a boolean input parameter, such as
+ *      the "some_parameter" in the example above.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#include "usart_driver.h"
+
+
+
+/*! \brief Initializes buffer and selects what USART module to use.
+ *
+ *  Initializes receive and transmit buffer and selects what USART module to use,
+ *  and stores the data register empty interrupt level.
+ *
+ *  \param usart_data           The USART_data_t struct instance.
+ *  \param usart                The USART module.
+ *  \param dreIntLevel          Data register empty interrupt level.
+ */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->usart = usart;
+	usart_data->dreIntLevel = dreIntLevel;
+
+	usart_data->buffer.RX_Tail = 0;
+	usart_data->buffer.RX_Head = 0;
+	usart_data->buffer.TX_Tail = 0;
+	usart_data->buffer.TX_Head = 0;
+}
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Set the interrupt level on Data Register interrupt.
+ *
+ *  \note Changing the DRE interrupt level in the interrupt driver while it is
+ *        running will not change the DRE interrupt level in the USART before the
+ *        DRE interrupt have been disabled and enabled again.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *  \param dreIntLevel        Interrupt level of the DRE interrupt.
+ */
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->dreIntLevel = dreIntLevel;
+}
+
+
+/*! \brief Test if there is data in the transmitter software buffer.
+ *
+ *  This function can be used to test if there is free space in the transmitter
+ *  software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = (usart_data->buffer.TX_Head + 1) & USART_TX_BUFFER_MASK;
+	uint8_t tempTail = usart_data->buffer.TX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Stores data byte in TX software buffer and enables DRE interrupt if there
+ *  is free space in the TX software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *  \param data       The data to send.
+ */
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data)
+{
+	uint8_t tempCTRLA;
+	uint8_t tempTX_Head;
+	bool TXBuffer_FreeSpace;
+	USART_Buffer_t * TXbufPtr;
+
+	TXbufPtr = &usart_data->buffer;
+	TXBuffer_FreeSpace = USART_TXBuffer_FreeSpace(usart_data);
+
+
+	if(TXBuffer_FreeSpace)
+	{
+	  	tempTX_Head = TXbufPtr->TX_Head;
+	  	TXbufPtr->TX[tempTX_Head]= data;
+		/* Advance buffer head. */
+		TXbufPtr->TX_Head = (tempTX_Head + 1) & USART_TX_BUFFER_MASK;
+
+		/* Enable DRE interrupt. */
+		tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | usart_data->dreIntLevel;
+		usart_data->usart->CTRLA = tempCTRLA;
+	}
+	return TXBuffer_FreeSpace;
+}
+
+
+
+/*! \brief Test if there is data in the receive software buffer.
+ *
+ *  This function can be used to test if there is data in the receive software
+ *  buffer.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_RXBufferData_Available(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = usart_data->buffer.RX_Head;
+	uint8_t tempTail = usart_data->buffer.RX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  The function USART_RXBufferData_Available should be used before this
+ *  function is used to ensure that data is available.
+ *
+ *  Returns data from RX software buffer.
+ *
+ *  \param usart_data       The USART_data_t struct instance.
+ *
+ *  \return         Received data.
+ */
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	uint8_t ans;
+
+	bufPtr = &usart_data->buffer;
+	ans = (bufPtr->RX[bufPtr->RX_Tail]);
+
+	/* Advance buffer tail. */
+	bufPtr->RX_Tail = (bufPtr->RX_Tail + 1) & USART_RX_BUFFER_MASK;
+
+	return ans;
+}
+
+
+
+/*! \brief RX Complete Interrupt Service Routine.
+ *
+ *  RX Complete Interrupt Service Routine.
+ *  Stores received data in RX software buffer.
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+bool USART_RXComplete(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bool ans;
+
+	bufPtr = &usart_data->buffer;
+	/* Advance buffer head. */
+	uint8_t tempRX_Head = (bufPtr->RX_Head + 1) & USART_RX_BUFFER_MASK;
+
+	/* Check for overflow. */
+	uint8_t tempRX_Tail = bufPtr->RX_Tail;
+	uint8_t data = usart_data->usart->DATA;
+
+	if (tempRX_Head == tempRX_Tail) {
+	  	ans = false;
+	}else{
+		ans = true;
+		usart_data->buffer.RX[usart_data->buffer.RX_Head] = data;
+		usart_data->buffer.RX_Head = tempRX_Head;
+	}
+	return ans;
+}
+
+
+
+/*! \brief Data Register Empty Interrupt Service Routine.
+ *
+ *  Data Register Empty Interrupt Service Routine.
+ *  Transmits one byte from TX software buffer. Disables DRE interrupt if buffer
+ *  is empty. Argument is pointer to USART (USART_data_t).
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+void USART_DataRegEmpty(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bufPtr = &usart_data->buffer;
+
+	/* Check if all data is transmitted. */
+	uint8_t tempTX_Tail = usart_data->buffer.TX_Tail;
+	if (bufPtr->TX_Head == tempTX_Tail){
+	    /* Disable DRE interrupts. */
+		uint8_t tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | USART_DREINTLVL_OFF_gc;
+		usart_data->usart->CTRLA = tempCTRLA;
+
+	}else{
+		/* Start transmitting. */
+		uint8_t data = bufPtr->TX[usart_data->buffer.TX_Tail];
+		usart_data->usart->DATA = data;
+
+		/* Advance buffer tail. */
+		bufPtr->TX_Tail = (bufPtr->TX_Tail + 1) & USART_TX_BUFFER_MASK;
+	}
+}
+
+
+/*! \brief Put data (9 bit character).
+ *
+ *  Use the function USART_IsTXDataRegisterEmpty before using this function to
+ *  put 9 bit character to the TX register.
+ *
+ *  \param usart      The USART module.
+ *  \param data       The data to send.
+ */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data)
+{
+	if(data & 0x0100) {
+		usart->CTRLB |= USART_TXB8_bm;
+	}else {
+		usart->CTRLB &= ~USART_TXB8_bm;
+	}
+
+	usart->DATA = (data & 0x00FF);
+}
+
+
+/*! \brief Get received data (9 bit character).
+ *
+ *  This function reads out the received 9 bit character (uint16_t).
+ *  Use the function USART_IsRXComplete to check if anything is received.
+ *
+ *  \param usart      The USART module.
+ *
+ *  \retval           Received data.
+ */
+uint16_t USART_NineBits_GetChar(USART_t * usart)
+{
+	if(usart->CTRLB & USART_RXB8_bm) {
+		return(0x0100 | usart->DATA);
+	}else {
+		return(usart->DATA);
+	}
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/ArmControl/usart_driver.h

@@ -0,0 +1,306 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA USART driver header file.
+ *
+ *      This file contains the function prototypes and enumerator definitions
+ *      for various configuration parameters for the XMEGA USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#ifndef USART_DRIVER_H
+#define USART_DRIVER_H
+
+#include "avr_compiler.h"
+
+/* USART buffer defines. */
+
+/* \brief  Receive buffer size: 2,4,8,16,32,64,128 or 256 bytes. */
+#define USART_RX_BUFFER_SIZE 4
+/* \brief Transmit buffer size: 2,4,8,16,32,64,128 or 256 bytes */
+#define USART_TX_BUFFER_SIZE 4
+/* \brief Receive buffer mask. */
+#define USART_RX_BUFFER_MASK ( USART_RX_BUFFER_SIZE - 1 )
+/* \brief Transmit buffer mask. */
+#define USART_TX_BUFFER_MASK ( USART_TX_BUFFER_SIZE - 1 )
+
+
+#if ( USART_RX_BUFFER_SIZE & USART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( USART_TX_BUFFER_SIZE & USART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+
+
+/* \brief USART transmit and receive ring buffer. */
+typedef struct USART_Buffer
+{
+	/* \brief Receive buffer. */
+	volatile uint8_t RX[USART_RX_BUFFER_SIZE];
+	/* \brief Transmit buffer. */
+	volatile uint8_t TX[USART_TX_BUFFER_SIZE];
+	/* \brief Receive buffer head. */
+	volatile uint8_t RX_Head;
+	/* \brief Receive buffer tail. */
+	volatile uint8_t RX_Tail;
+	/* \brief Transmit buffer head. */
+	volatile uint8_t TX_Head;
+	/* \brief Transmit buffer tail. */
+	volatile uint8_t TX_Tail;
+} USART_Buffer_t;
+
+
+/*! \brief Struct used when interrupt driven driver is used.
+*
+*  Struct containing pointer to a usart, a buffer and a location to store Data
+*  register interrupt level temporary.
+*/
+typedef struct Usart_and_buffer
+{
+	/* \brief Pointer to USART module to use. */
+	USART_t * usart;
+	/* \brief Data register empty interrupt level. */
+	USART_DREINTLVL_t dreIntLevel;
+	/* \brief Data buffer. */
+	USART_Buffer_t buffer;
+} USART_data_t;
+
+
+/* Macros. */
+
+/*! \brief Macro that sets the USART frame format.
+ *
+ *  Sets the frame format, Frame Size, parity mode and number of stop bits.
+ *
+ *  \param _usart        Pointer to the USART module
+ *  \param _charSize     The character size. Use USART_CHSIZE_t type.
+ *  \param _parityMode   The parity Mode. Use USART_PMODE_t type.
+ *  \param _twoStopBits  Enable two stop bit mode. Use bool type.
+ */
+#define USART_Format_Set(_usart, _charSize, _parityMode, _twoStopBits)         \
+	(_usart)->CTRLC = (uint8_t) _charSize | _parityMode |                      \
+	                  (_twoStopBits ? USART_SBMODE_bm : 0)
+
+
+/*! \brief Set USART baud rate.
+ *
+ *  Sets the USART's baud rate register.
+ *
+ *  UBRR_Value   : Value written to UBRR
+ *  ScaleFactor  : Time Base Generator Scale Factor
+ *
+ *  Equation for calculation of BSEL value in asynchronous normal speed mode:
+ *  	If ScaleFactor >= 0
+ *  		BSEL = ((I/O clock frequency)/(2^(ScaleFactor)*16*Baudrate))-1
+ *  	If ScaleFactor < 0
+ *  		BSEL = (1/(2^(ScaleFactor)*16))*(((I/O clock frequency)/Baudrate)-1)
+ *
+ *	\note See XMEGA manual for equations for calculation of BSEL value in other
+ *        modes.
+ *
+ *  \param _usart          Pointer to the USART module.
+ *  \param _bselValue      Value to write to BSEL part of Baud control register.
+ *                         Use uint16_t type.
+ *  \param _bScaleFactor   USART baud rate scale factor.
+ *                         Use uint8_t type
+ */
+#define USART_Baudrate_Set(_usart, _bselValue, _bScaleFactor)                  \
+	(_usart)->BAUDCTRLA =(uint8_t)_bselValue;                                           \
+	(_usart)->BAUDCTRLB =(_bScaleFactor << USART_BSCALE0_bp)|(_bselValue >> 8)
+
+
+/*! \brief Enable USART receiver.
+ *
+ *  \param _usart    Pointer to the USART module
+ */
+#define USART_Rx_Enable(_usart) ((_usart)->CTRLB |= USART_RXEN_bm)
+
+
+/*! \brief Disable USART receiver.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Rx_Disable(_usart) ((_usart)->CTRLB &= ~USART_RXEN_bm)
+
+
+/*! \brief Enable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Enable(_usart)	((_usart)->CTRLB |= USART_TXEN_bm)
+
+
+/*! \brief Disable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Disable(_usart) ((_usart)->CTRLB &= ~USART_TXEN_bm)
+
+
+/*! \brief Set USART RXD interrupt level.
+ *
+ *  Sets the interrupt level on RX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _rxdIntLevel  Interrupt level of the RXD interrupt.
+ *                       Use USART_RXCINTLVL_t type.
+ */
+#define USART_RxdInterruptLevel_Set(_usart, _rxdIntLevel)                      \
+	((_usart)->CTRLA = ((_usart)->CTRLA & ~USART_RXCINTLVL_gm) | _rxdIntLevel)
+
+
+/*! \brief Set USART TXD interrupt level.
+ *
+ *  Sets the interrupt level on TX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _txdIntLevel  Interrupt level of the TXD interrupt.
+ *                       Use USART_TXCINTLVL_t type.
+ */
+#define USART_TxdInterruptLevel_Set(_usart, _txdIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_TXCINTLVL_gm) | _txdIntLevel
+
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Sets the interrupt level on Data Register interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _dreIntLevel  Interrupt level of the DRE interrupt.
+ *                       Use USART_DREINTLVL_t type.
+ */
+#define USART_DreInterruptLevel_Set(_usart, _dreIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_DREINTLVL_gm) | _dreIntLevel
+
+
+/*! \brief Set the mode the USART run in.
+ *
+ * Set the mode the USART run in. The default mode is asynchronous mode.
+ *
+ *  \param  _usart       Pointer to the USART module register section.
+ *  \param  _usartMode   Selects the USART mode. Use  USART_CMODE_t type.
+ *
+ *  USART modes:
+ *  - 0x0        : Asynchronous mode.
+ *  - 0x1        : Synchronous mode.
+ *  - 0x2        : IrDA mode.
+ *  - 0x3        : Master SPI mode.
+ */
+#define USART_SetMode(_usart, _usartMode)                                      \
+	((_usart)->CTRLC = ((_usart)->CTRLC & (~USART_CMODE_gm)) | _usartMode)
+
+
+
+/*! \brief Check if data register empty flag is set.
+ *
+ *  \param _usart      The USART module.
+ */
+#define USART_IsTXDataRegisterEmpty(_usart) (((_usart)->STATUS & USART_DREIF_bm) != 0)
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Use the macro USART_IsTXDataRegisterEmpty before using this function to
+ *  put data to the TX register.
+ *
+ *  \param _usart      The USART module.
+ *  \param _data       The data to send.
+ */
+#define USART_PutChar(_usart, _data) ((_usart)->DATA = _data)
+
+
+
+/*! \brief Checks if the RX complete interrupt flag is set.
+ *
+ *   Checks if the RX complete interrupt flag is set.
+ *
+ *  \param _usart     The USART module.
+ */
+#define USART_IsRXComplete(_usart) (((_usart)->STATUS & USART_RXCIF_bm) != 0)
+
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  This macro reads out the RX register.
+ *  Use the macro USART_RX_Complete to check if anything is received.
+ *
+ *  \param _usart     The USART module.
+ *
+ *  \retval           Received data.
+ */
+#define USART_GetChar(_usart)  ((_usart)->DATA)
+
+
+/* Functions for interrupt driven driver. */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel );
+
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel);
+
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data);
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data);
+bool USART_RXBufferData_Available(USART_data_t * usart_data);
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data);
+bool USART_RXComplete(USART_data_t * usart_data);
+void USART_DataRegEmpty(USART_data_t * usart_data);
+
+/* Functions for polled driver. */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data);
+uint16_t USART_NineBits_GetChar(USART_t * usart);
+
+#endif

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/ArmControl/README

@@ -0,0 +1,3 @@
+Firmware for all final boards should go here.
+
+All firmware developed using Atmel Studio 6.2.

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.atsln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "DistanceRadioRover", "DistanceRadioRover.cppproj", "{0646594B-D684-48EF-AAB5-9601FAFC53D7}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Debug|AVR.ActiveCfg = Debug|AVR
+		{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Debug|AVR.Build.0 = Debug|AVR
+		{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Release|AVR.ActiveCfg = Release|AVR
+		{0646594B-D684-48EF-AAB5-9601FAFC53D7}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.cpp

@@ -0,0 +1,17 @@
+/*
+ * DistanceRadioRover.cpp
+ *
+ * Created: 4/23/2014 2:39:40 AM
+ *  Author: corwin
+ */ 
+
+
+#include <avr/io.h>
+
+int main(void)
+{
+    while(1)
+    {
+        //TODO:: Please write your application code 
+    }
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/DistanceRadioRover.cppproj

@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>6.2</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.CPP</ToolchainName>
+    <ProjectGuid>{0646594b-d684-48ef-aab5-9601fafc53d7}</ProjectGuid>
+    <avrdevice>ATxmega32D4</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>CPP</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>DistanceRadioRover</AssemblyName>
+    <Name>DistanceRadioRover</Name>
+    <RootNamespace>DistanceRadioRover</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress />
+    <UncachedRange />
+    <OverrideVtorValue />
+    <BootSegment>2</BootSegment>
+    <eraseonlaunchrule>1</eraseonlaunchrule>
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+  <options />
+  <configurations />
+  <files />
+  <documentation help="" />
+  <offline-documentation help="" />
+  <dependencies>
+    <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.15.0" />
+  </dependencies>
+</framework-data>
+    </AsfFrameworkConfig>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+  <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+  <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcc.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>NDEBUG</Value>
+    </ListValues>
+  </avrgcc.compiler.symbols.DefSymbols>
+  <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>
+  <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcccpp.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>NDEBUG</Value>
+    </ListValues>
+  </avrgcccpp.compiler.symbols.DefSymbols>
+  <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
+  <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+  <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+  <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+  <avrgcccpp.linker.libraries.Libraries>
+    <ListValues>
+      <Value>libm</Value>
+    </ListValues>
+  </avrgcccpp.linker.libraries.Libraries>
+</AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+  <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+  <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+  <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcc.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>DEBUG</Value>
+    </ListValues>
+  </avrgcc.compiler.symbols.DefSymbols>
+  <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>
+  <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+  <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+  <avrgcccpp.compiler.symbols.DefSymbols>
+    <ListValues>
+      <Value>DEBUG</Value>
+    </ListValues>
+  </avrgcccpp.compiler.symbols.DefSymbols>
+  <avrgcccpp.compiler.optimization.level>Optimize (-O1)</avrgcccpp.compiler.optimization.level>
+  <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+  <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+  <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
+  <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+  <avrgcccpp.linker.libraries.Libraries>
+    <ListValues>
+      <Value>libm</Value>
+    </ListValues>
+  </avrgcccpp.linker.libraries.Libraries>
+  <avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
+</AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="DistanceRadioRover.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/avr_compiler.h

@@ -0,0 +1,154 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief This file implements some macros that makes the IAR C-compiler and
+ *        avr-gcc work with the same code base for the AVR architecture.
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+#ifndef COMPILER_AVR_H
+#define COMPILER_AVR_H
+
+#ifndef F_CPU
+/*! \brief Define default CPU frequency, if this is not already defined. */
+#define F_CPU 2000000UL
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+/*! \brief This macro will protect the following code from interrupts. */
+#define AVR_ENTER_CRITICAL_REGION( ) uint8_t volatile saved_sreg = SREG; \
+                                     cli();
+
+/*! \brief This macro must always be used in conjunction with AVR_ENTER_CRITICAL_REGION
+ *        so the interrupts are enabled again.
+ */
+#define AVR_LEAVE_CRITICAL_REGION( ) SREG = saved_sreg;
+
+#if defined( __ICCAVR__ )
+
+#include <inavr.h>
+#include <ioavr.h>
+#include <intrinsics.h>
+#include <pgmspace.h>
+
+#ifndef __HAS_ELPM__
+#define _MEMATTR  __flash
+#else /* __HAS_ELPM__ */
+#define _MEMATTR  __farflash
+#endif /* __HAS_ELPM__ */
+
+/*! \brief Perform a delay of \c us microseconds.
+ *
+ *  The macro F_CPU is supposed to be defined to a constant defining the CPU
+ *  clock frequency (in Hertz).
+ *
+ *  The maximal possible delay is 262.14 ms / F_CPU in MHz.
+ *
+ *  \note For the IAR compiler, currently F_CPU must be a
+ *        multiple of 1000000UL (1 MHz).
+ */
+#define delay_us( us )   ( __delay_cycles( ( F_CPU / 1000000UL ) * ( us ) ) )
+
+/*! \brief Preprocessor magic.
+ *
+ *  Some preprocessor magic to allow for a header file abstraction of
+ *  interrupt service routine declarations for the IAR compiler.  This
+ *  requires the use of the C99 _Pragma() directive (rather than the
+ *  old #pragma one that could not be used as a macro replacement), as
+ *  well as two different levels of preprocessor concetanations in
+ *  order to do both, assign the correct interrupt vector name, as well
+ *  as construct a unique function name for the ISR.
+ *
+ *  \note Do *NOT* try to reorder the macros below, as this will only
+ *        work in the given order.
+ */
+#define PRAGMA(x) _Pragma( #x )
+#define ISR(vec) PRAGMA( vector=vec ) __interrupt void handler_##vec(void)
+#define sei( ) (__enable_interrupt( ))
+#define cli( ) (__disable_interrupt( ))
+
+/*! \brief Define the no operation macro. */
+#define nop( ) (__no_operation())
+
+/*! \brief Define the watchdog reset macro. */
+#define watchdog_reset( ) (__watchdog_reset( ))
+
+
+#define INLINE PRAGMA( inline=forced ) static
+
+#define FLASH_DECLARE(x) _MEMATTR x
+#define FLASH_STRING(x) ((_MEMATTR const char *)(x))
+#define FLASH_STRING_T  char const _MEMATTR *
+#define FLASH_BYTE_ARRAY_T uint8_t const _MEMATTR *
+#define PGM_READ_BYTE(x) *(x)
+#define PGM_READ_WORD(x) *(x)
+
+#define SHORTENUM /**/
+
+#elif defined( __GNUC__ )
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+
+/*! \brief Define the delay_us macro for GCC. */
+#define delay_us( us )   (_delay_us( us ))
+
+#define INLINE static inline
+
+/*! \brief Define the no operation macro. */
+#define nop()   do { __asm__ __volatile__ ("nop"); } while (0)
+
+#define MAIN_TASK_PROLOGUE int
+
+
+#define MAIN_TASK_EPILOGUE() return -1;
+
+#define SHORTENUM __attribute__ ((packed))
+
+#else
+#error Compiler not supported.
+#endif
+
+#endif
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/usart_driver.c

@@ -0,0 +1,320 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief
+ *      XMEGA USART driver source file.
+ *
+ *      This file contains the function implementations the XMEGA interrupt
+ *      and polled USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ *      Some functions use the following construct:
+ *          "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
+ *      Although the use of the ternary operator ( if ? then : else ) is discouraged,
+ *      in some occasions the operator makes it possible to write pretty clean and
+ *      neat code. In this driver, the construct is used to set or not set a
+ *      configuration bit based on a boolean input parameter, such as
+ *      the "some_parameter" in the example above.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#include "usart_driver.h"
+
+
+
+/*! \brief Initializes buffer and selects what USART module to use.
+ *
+ *  Initializes receive and transmit buffer and selects what USART module to use,
+ *  and stores the data register empty interrupt level.
+ *
+ *  \param usart_data           The USART_data_t struct instance.
+ *  \param usart                The USART module.
+ *  \param dreIntLevel          Data register empty interrupt level.
+ */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->usart = usart;
+	usart_data->dreIntLevel = dreIntLevel;
+
+	usart_data->buffer.RX_Tail = 0;
+	usart_data->buffer.RX_Head = 0;
+	usart_data->buffer.TX_Tail = 0;
+	usart_data->buffer.TX_Head = 0;
+}
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Set the interrupt level on Data Register interrupt.
+ *
+ *  \note Changing the DRE interrupt level in the interrupt driver while it is
+ *        running will not change the DRE interrupt level in the USART before the
+ *        DRE interrupt have been disabled and enabled again.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *  \param dreIntLevel        Interrupt level of the DRE interrupt.
+ */
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->dreIntLevel = dreIntLevel;
+}
+
+
+/*! \brief Test if there is data in the transmitter software buffer.
+ *
+ *  This function can be used to test if there is free space in the transmitter
+ *  software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = (usart_data->buffer.TX_Head + 1) & USART_TX_BUFFER_MASK;
+	uint8_t tempTail = usart_data->buffer.TX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Stores data byte in TX software buffer and enables DRE interrupt if there
+ *  is free space in the TX software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *  \param data       The data to send.
+ */
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data)
+{
+	uint8_t tempCTRLA;
+	uint8_t tempTX_Head;
+	bool TXBuffer_FreeSpace;
+	USART_Buffer_t * TXbufPtr;
+
+	TXbufPtr = &usart_data->buffer;
+	TXBuffer_FreeSpace = USART_TXBuffer_FreeSpace(usart_data);
+
+
+	if(TXBuffer_FreeSpace)
+	{
+	  	tempTX_Head = TXbufPtr->TX_Head;
+	  	TXbufPtr->TX[tempTX_Head]= data;
+		/* Advance buffer head. */
+		TXbufPtr->TX_Head = (tempTX_Head + 1) & USART_TX_BUFFER_MASK;
+
+		/* Enable DRE interrupt. */
+		tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | usart_data->dreIntLevel;
+		usart_data->usart->CTRLA = tempCTRLA;
+	}
+	return TXBuffer_FreeSpace;
+}
+
+
+
+/*! \brief Test if there is data in the receive software buffer.
+ *
+ *  This function can be used to test if there is data in the receive software
+ *  buffer.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_RXBufferData_Available(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = usart_data->buffer.RX_Head;
+	uint8_t tempTail = usart_data->buffer.RX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  The function USART_RXBufferData_Available should be used before this
+ *  function is used to ensure that data is available.
+ *
+ *  Returns data from RX software buffer.
+ *
+ *  \param usart_data       The USART_data_t struct instance.
+ *
+ *  \return         Received data.
+ */
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	uint8_t ans;
+
+	bufPtr = &usart_data->buffer;
+	ans = (bufPtr->RX[bufPtr->RX_Tail]);
+
+	/* Advance buffer tail. */
+	bufPtr->RX_Tail = (bufPtr->RX_Tail + 1) & USART_RX_BUFFER_MASK;
+
+	return ans;
+}
+
+
+
+/*! \brief RX Complete Interrupt Service Routine.
+ *
+ *  RX Complete Interrupt Service Routine.
+ *  Stores received data in RX software buffer.
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+bool USART_RXComplete(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bool ans;
+
+	bufPtr = &usart_data->buffer;
+	/* Advance buffer head. */
+	uint8_t tempRX_Head = (bufPtr->RX_Head + 1) & USART_RX_BUFFER_MASK;
+
+	/* Check for overflow. */
+	uint8_t tempRX_Tail = bufPtr->RX_Tail;
+	uint8_t data = usart_data->usart->DATA;
+
+	if (tempRX_Head == tempRX_Tail) {
+	  	ans = false;
+	}else{
+		ans = true;
+		usart_data->buffer.RX[usart_data->buffer.RX_Head] = data;
+		usart_data->buffer.RX_Head = tempRX_Head;
+	}
+	return ans;
+}
+
+
+
+/*! \brief Data Register Empty Interrupt Service Routine.
+ *
+ *  Data Register Empty Interrupt Service Routine.
+ *  Transmits one byte from TX software buffer. Disables DRE interrupt if buffer
+ *  is empty. Argument is pointer to USART (USART_data_t).
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+void USART_DataRegEmpty(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bufPtr = &usart_data->buffer;
+
+	/* Check if all data is transmitted. */
+	uint8_t tempTX_Tail = usart_data->buffer.TX_Tail;
+	if (bufPtr->TX_Head == tempTX_Tail){
+	    /* Disable DRE interrupts. */
+		uint8_t tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | USART_DREINTLVL_OFF_gc;
+		usart_data->usart->CTRLA = tempCTRLA;
+
+	}else{
+		/* Start transmitting. */
+		uint8_t data = bufPtr->TX[usart_data->buffer.TX_Tail];
+		usart_data->usart->DATA = data;
+
+		/* Advance buffer tail. */
+		bufPtr->TX_Tail = (bufPtr->TX_Tail + 1) & USART_TX_BUFFER_MASK;
+	}
+}
+
+
+/*! \brief Put data (9 bit character).
+ *
+ *  Use the function USART_IsTXDataRegisterEmpty before using this function to
+ *  put 9 bit character to the TX register.
+ *
+ *  \param usart      The USART module.
+ *  \param data       The data to send.
+ */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data)
+{
+	if(data & 0x0100) {
+		usart->CTRLB |= USART_TXB8_bm;
+	}else {
+		usart->CTRLB &= ~USART_TXB8_bm;
+	}
+
+	usart->DATA = (data & 0x00FF);
+}
+
+
+/*! \brief Get received data (9 bit character).
+ *
+ *  This function reads out the received 9 bit character (uint16_t).
+ *  Use the function USART_IsRXComplete to check if anything is received.
+ *
+ *  \param usart      The USART module.
+ *
+ *  \retval           Received data.
+ */
+uint16_t USART_NineBits_GetChar(USART_t * usart)
+{
+	if(usart->CTRLB & USART_RXB8_bm) {
+		return(0x0100 | usart->DATA);
+	}else {
+		return(usart->DATA);
+	}
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/DistanceRadioRover/usart_driver.h

@@ -0,0 +1,306 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA USART driver header file.
+ *
+ *      This file contains the function prototypes and enumerator definitions
+ *      for various configuration parameters for the XMEGA USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#ifndef USART_DRIVER_H
+#define USART_DRIVER_H
+
+#include "avr_compiler.h"
+
+/* USART buffer defines. */
+
+/* \brief  Receive buffer size: 2,4,8,16,32,64,128 or 256 bytes. */
+#define USART_RX_BUFFER_SIZE 4
+/* \brief Transmit buffer size: 2,4,8,16,32,64,128 or 256 bytes */
+#define USART_TX_BUFFER_SIZE 4
+/* \brief Receive buffer mask. */
+#define USART_RX_BUFFER_MASK ( USART_RX_BUFFER_SIZE - 1 )
+/* \brief Transmit buffer mask. */
+#define USART_TX_BUFFER_MASK ( USART_TX_BUFFER_SIZE - 1 )
+
+
+#if ( USART_RX_BUFFER_SIZE & USART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( USART_TX_BUFFER_SIZE & USART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+
+
+/* \brief USART transmit and receive ring buffer. */
+typedef struct USART_Buffer
+{
+	/* \brief Receive buffer. */
+	volatile uint8_t RX[USART_RX_BUFFER_SIZE];
+	/* \brief Transmit buffer. */
+	volatile uint8_t TX[USART_TX_BUFFER_SIZE];
+	/* \brief Receive buffer head. */
+	volatile uint8_t RX_Head;
+	/* \brief Receive buffer tail. */
+	volatile uint8_t RX_Tail;
+	/* \brief Transmit buffer head. */
+	volatile uint8_t TX_Head;
+	/* \brief Transmit buffer tail. */
+	volatile uint8_t TX_Tail;
+} USART_Buffer_t;
+
+
+/*! \brief Struct used when interrupt driven driver is used.
+*
+*  Struct containing pointer to a usart, a buffer and a location to store Data
+*  register interrupt level temporary.
+*/
+typedef struct Usart_and_buffer
+{
+	/* \brief Pointer to USART module to use. */
+	USART_t * usart;
+	/* \brief Data register empty interrupt level. */
+	USART_DREINTLVL_t dreIntLevel;
+	/* \brief Data buffer. */
+	USART_Buffer_t buffer;
+} USART_data_t;
+
+
+/* Macros. */
+
+/*! \brief Macro that sets the USART frame format.
+ *
+ *  Sets the frame format, Frame Size, parity mode and number of stop bits.
+ *
+ *  \param _usart        Pointer to the USART module
+ *  \param _charSize     The character size. Use USART_CHSIZE_t type.
+ *  \param _parityMode   The parity Mode. Use USART_PMODE_t type.
+ *  \param _twoStopBits  Enable two stop bit mode. Use bool type.
+ */
+#define USART_Format_Set(_usart, _charSize, _parityMode, _twoStopBits)         \
+	(_usart)->CTRLC = (uint8_t) _charSize | _parityMode |                      \
+	                  (_twoStopBits ? USART_SBMODE_bm : 0)
+
+
+/*! \brief Set USART baud rate.
+ *
+ *  Sets the USART's baud rate register.
+ *
+ *  UBRR_Value   : Value written to UBRR
+ *  ScaleFactor  : Time Base Generator Scale Factor
+ *
+ *  Equation for calculation of BSEL value in asynchronous normal speed mode:
+ *  	If ScaleFactor >= 0
+ *  		BSEL = ((I/O clock frequency)/(2^(ScaleFactor)*16*Baudrate))-1
+ *  	If ScaleFactor < 0
+ *  		BSEL = (1/(2^(ScaleFactor)*16))*(((I/O clock frequency)/Baudrate)-1)
+ *
+ *	\note See XMEGA manual for equations for calculation of BSEL value in other
+ *        modes.
+ *
+ *  \param _usart          Pointer to the USART module.
+ *  \param _bselValue      Value to write to BSEL part of Baud control register.
+ *                         Use uint16_t type.
+ *  \param _bScaleFactor   USART baud rate scale factor.
+ *                         Use uint8_t type
+ */
+#define USART_Baudrate_Set(_usart, _bselValue, _bScaleFactor)                  \
+	(_usart)->BAUDCTRLA =(uint8_t)_bselValue;                                           \
+	(_usart)->BAUDCTRLB =(_bScaleFactor << USART_BSCALE0_bp)|(_bselValue >> 8)
+
+
+/*! \brief Enable USART receiver.
+ *
+ *  \param _usart    Pointer to the USART module
+ */
+#define USART_Rx_Enable(_usart) ((_usart)->CTRLB |= USART_RXEN_bm)
+
+
+/*! \brief Disable USART receiver.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Rx_Disable(_usart) ((_usart)->CTRLB &= ~USART_RXEN_bm)
+
+
+/*! \brief Enable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Enable(_usart)	((_usart)->CTRLB |= USART_TXEN_bm)
+
+
+/*! \brief Disable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Disable(_usart) ((_usart)->CTRLB &= ~USART_TXEN_bm)
+
+
+/*! \brief Set USART RXD interrupt level.
+ *
+ *  Sets the interrupt level on RX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _rxdIntLevel  Interrupt level of the RXD interrupt.
+ *                       Use USART_RXCINTLVL_t type.
+ */
+#define USART_RxdInterruptLevel_Set(_usart, _rxdIntLevel)                      \
+	((_usart)->CTRLA = ((_usart)->CTRLA & ~USART_RXCINTLVL_gm) | _rxdIntLevel)
+
+
+/*! \brief Set USART TXD interrupt level.
+ *
+ *  Sets the interrupt level on TX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _txdIntLevel  Interrupt level of the TXD interrupt.
+ *                       Use USART_TXCINTLVL_t type.
+ */
+#define USART_TxdInterruptLevel_Set(_usart, _txdIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_TXCINTLVL_gm) | _txdIntLevel
+
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Sets the interrupt level on Data Register interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _dreIntLevel  Interrupt level of the DRE interrupt.
+ *                       Use USART_DREINTLVL_t type.
+ */
+#define USART_DreInterruptLevel_Set(_usart, _dreIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_DREINTLVL_gm) | _dreIntLevel
+
+
+/*! \brief Set the mode the USART run in.
+ *
+ * Set the mode the USART run in. The default mode is asynchronous mode.
+ *
+ *  \param  _usart       Pointer to the USART module register section.
+ *  \param  _usartMode   Selects the USART mode. Use  USART_CMODE_t type.
+ *
+ *  USART modes:
+ *  - 0x0        : Asynchronous mode.
+ *  - 0x1        : Synchronous mode.
+ *  - 0x2        : IrDA mode.
+ *  - 0x3        : Master SPI mode.
+ */
+#define USART_SetMode(_usart, _usartMode)                                      \
+	((_usart)->CTRLC = ((_usart)->CTRLC & (~USART_CMODE_gm)) | _usartMode)
+
+
+
+/*! \brief Check if data register empty flag is set.
+ *
+ *  \param _usart      The USART module.
+ */
+#define USART_IsTXDataRegisterEmpty(_usart) (((_usart)->STATUS & USART_DREIF_bm) != 0)
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Use the macro USART_IsTXDataRegisterEmpty before using this function to
+ *  put data to the TX register.
+ *
+ *  \param _usart      The USART module.
+ *  \param _data       The data to send.
+ */
+#define USART_PutChar(_usart, _data) ((_usart)->DATA = _data)
+
+
+
+/*! \brief Checks if the RX complete interrupt flag is set.
+ *
+ *   Checks if the RX complete interrupt flag is set.
+ *
+ *  \param _usart     The USART module.
+ */
+#define USART_IsRXComplete(_usart) (((_usart)->STATUS & USART_RXCIF_bm) != 0)
+
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  This macro reads out the RX register.
+ *  Use the macro USART_RX_Complete to check if anything is received.
+ *
+ *  \param _usart     The USART module.
+ *
+ *  \retval           Received data.
+ */
+#define USART_GetChar(_usart)  ((_usart)->DATA)
+
+
+/* Functions for interrupt driven driver. */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel );
+
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel);
+
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data);
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data);
+bool USART_RXBufferData_Available(USART_data_t * usart_data);
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data);
+bool USART_RXComplete(USART_data_t * usart_data);
+void USART_DataRegEmpty(USART_data_t * usart_data);
+
+/* Functions for polled driver. */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data);
+uint16_t USART_NineBits_GetChar(USART_t * usart);
+
+#endif

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DistanceRadioRover/README

@@ -0,0 +1,3 @@
+Firmware for all final boards should go here.
+
+All firmware developed using Atmel Studio 6.2.

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/DriveControl.d

@@ -0,0 +1,71 @@
+DriveControl.d DriveControl.o: .././DriveControl.cpp \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ .././Sabertooth.h .././usart_driver.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ .././Misc.h
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+.././Sabertooth.h:
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+.././Misc.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/DriveControl.eep

@@ -0,0 +1 @@
+:00000001FF

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/DriveControl.hex

@@ -0,0 +1,129 @@
+:100000000C94B6000C94D3000C94D3000C94D30041
+:100010000C94D3000C94D3000C94D3000C94D30014
+:100020000C94D3000C94D3000C94D3000C94D30004
+:100030000C94D3000C94D3000C9464020C94D30061
+:100040000C94D3000C94D3000C94D3000C94D300E4
+:100050000C94D3000C94D3000C94D3000C94D300D4
+:100060000C94D3000C9418020C943E020C94D30010
+:100070000C94D3000C94D3000C94D3000C94D300B4
+:100080000C94D3000C94D3000C94D3000C94D300A4
+:100090000C94D3000C94D3000C94D3000C94D30094
+:1000A0000C94D3000C94D3000C94D3000C94D30084
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OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/DriveControl.map

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+Memory Configuration
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+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2/crtx32d4.o
+LOAD DriveControl.o
+LOAD Misc.o
+LOAD Sabertooth.o
+LOAD usart_driver.o
+START GROUP
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2\libm.a
+END GROUP
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2\libm.a
+START GROUP
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+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2\libm.a
+LOAD c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2\libc.a
+END GROUP
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+ SORT(*)(.ctors)
+ SORT(*)(.dtors)
+ *(.init0)
+ .init0         0x0000016c        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2/crtx32d4.o
+                0x0000016c                __init
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+ *(.init2)
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+ *(.init2)
+ *(.init3)
+ *(.init3)
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+                0x00000178                __do_copy_data
+ .init4         0x0000018e       0x10 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a(_clear_bss.o)
+                0x0000018e                __do_clear_bss
+ *(.init4)
+ *(.init5)
+ *(.init5)
+ *(.init6)
+ *(.init6)
+ *(.init7)
+ *(.init7)
+ *(.init8)
+ *(.init8)
+ *(.init9)
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+ *(.init9)
+ *(.text)
+ .text          0x000001a6        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2/crtx32d4.o
+                0x000001a6                __vector_38
+                0x000001a6                __vector_22
+                0x000001a6                __vector_63
+                0x000001a6                __vector_28
+                0x000001a6                __vector_67
+                0x000001a6                __vector_1
+                0x000001a6                __vector_32
+                0x000001a6                __vector_75
+                0x000001a6                __vector_71
+                0x000001a6                __vector_34
+                0x000001a6                __vector_62
+                0x000001a6                __vector_24
+                0x000001a6                __vector_12
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+                0x000001a6                __vector_69
+                0x000001a6                __vector_81
+                0x000001a6                __vector_90
+                0x000001a6                __vector_46
+                0x000001a6                __bad_interrupt
+                0x000001a6                __vector_72
+                0x000001a6                __vector_6
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+                0x000001a6                __vector_35
+                0x000001a6                __vector_78
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+                0x000001a6                __vector_60
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+                0x000001a6                __vector_85
+                0x000001a6                __vector_8
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+                0x000001a6                __vector_84
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+                0x000001a6                __vector_42
+                0x000001a6                __vector_87
+                0x000001a6                __vector_65
+                0x000001aa                . = ALIGN (0x2)
+ *(.text.*)
+ .text.main     0x000001aa      0x286 DriveControl.o
+                0x000001aa                main
+ .text.__vector_25
+                0x00000430       0x4c DriveControl.o
+                0x00000430                __vector_25
+ .text.__vector_26
+                0x0000047c       0x4c DriveControl.o
+                0x0000047c                __vector_26
+ .text.__vector_14
+                0x000004c8       0x3a DriveControl.o
+                0x000004c8                __vector_14
+ .text.__vector_77
+                0x00000502       0x5a DriveControl.o
+                0x00000502                __vector_77
+ .text._Z23SetXMEGA32MhzCalibratedv
+                0x0000055c       0x46 Misc.o
+                0x0000055c                _Z23SetXMEGA32MhzCalibratedv
+ .text._Z12SetupPCCommsv
+                0x000005a2       0x4a Misc.o
+                0x000005a2                _Z12SetupPCCommsv
+ .text._Z14PCComsChecksumhhh
+                0x000005ec        0x6 Misc.o
+                0x000005ec                _Z14PCComsChecksumhhh
+ .text._Z22SendDriveControlStatusP12USART_structbb
+                0x000005f2       0x24 Misc.o
+                0x000005f2                _Z22SendDriveControlStatusP12USART_structbb
+ .text._Z17FlushSerialBufferP16Usart_and_buffer
+                0x00000616       0x1e Misc.o
+                0x00000616                _Z17FlushSerialBufferP16Usart_and_buffer
+ .text._ZN10Sabertooth12SendDriveCmdEcc
+                0x00000634       0x40 Sabertooth.o
+                0x00000634                _ZN10Sabertooth12SendDriveCmdEcc
+ .text._ZN10Sabertooth11ParsePacketEhh
+                0x00000674       0x72 Sabertooth.o
+                0x00000674                _ZN10Sabertooth11ParsePacketEhh
+ .text._ZN10Sabertooth7StopAllEv
+                0x000006e6        0xa Sabertooth.o
+                0x000006e6                _ZN10Sabertooth7StopAllEv
+ .text._ZN10SabertoothC2EP12USART_structP11PORT_struct
+                0x000006f0       0x64 Sabertooth.o
+                0x000006f0                _ZN10SabertoothC1EP12USART_structP11PORT_struct
+                0x000006f0                _ZN10SabertoothC2EP12USART_structP11PORT_struct
+ .text.USART_InterruptDriver_Initialize
+                0x00000754       0x12 usart_driver.o
+                0x00000754                USART_InterruptDriver_Initialize
+ .text.USART_RXBufferData_Available
+                0x00000766       0x10 usart_driver.o
+                0x00000766                USART_RXBufferData_Available
+ .text.USART_RXBuffer_GetByte
+                0x00000776       0x18 usart_driver.o
+                0x00000776                USART_RXBuffer_GetByte
+ .text.USART_RXComplete
+                0x0000078e       0x2a usart_driver.o
+                0x0000078e                USART_RXComplete
+ .text.USART_DataRegEmpty
+                0x000007b8       0x34 usart_driver.o
+                0x000007b8                USART_DataRegEmpty
+                0x000007ec                . = ALIGN (0x2)
+ *(.fini9)
+ .fini9         0x000007ec        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a(_exit.o)
+                0x000007ec                _exit
+                0x000007ec                exit
+ *(.fini9)
+ *(.fini8)
+ *(.fini8)
+ *(.fini7)
+ *(.fini7)
+ *(.fini6)
+ *(.fini6)
+ *(.fini5)
+ *(.fini5)
+ *(.fini4)
+ *(.fini4)
+ *(.fini3)
+ *(.fini3)
+ *(.fini2)
+ *(.fini2)
+ *(.fini1)
+ *(.fini1)
+ *(.fini0)
+ .fini0         0x000007ec        0x4 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a(_exit.o)
+ *(.fini0)
+                0x000007f0                _etext = .
+
+.data           0x00802000       0x10 load address 0x000007f0
+                0x00802000                PROVIDE (__data_start, .)
+ *(.data)
+ .data          0x00802000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/../../../../avr/lib/avrxmega2/crtx32d4.o
+ .data          0x00802000        0x0 DriveControl.o
+ .data          0x00802000        0x0 Misc.o
+ .data          0x00802000        0x0 Sabertooth.o
+ .data          0x00802000        0x0 usart_driver.o
+ .data          0x00802000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a(_exit.o)
+ .data          0x00802000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a(_copy_data.o)
+ .data          0x00802000        0x0 c:/program files (x86)/atmel/atmel toolchain/avr8 gcc/native/3.4.1051/avr8-gnu-toolchain/bin/../lib/gcc/avr/4.8.1/avrxmega2\libgcc.a(_clear_bss.o)
+ *(.data*)
+ *(.rodata)
+ *(.rodata*)
+ .rodata.str1.1
+                0x00802000       0x10 DriveControl.o
+ *(.gnu.linkonce.d*)
+                0x00802010                . = ALIGN (0x2)
+                0x00802010                _edata = .
+                0x00802010                PROVIDE (__data_end, .)
+
+.bss            0x00802010       0x1e
+                0x00802010                PROVIDE (__bss_start, .)
+ *(.bss)
+ *(.bss*)
+ .bss.TimePrevious
+                0x00802010        0x4 DriveControl.o
+                0x00802010                TimePrevious
+ .bss.TimeSinceInit
+                0x00802014        0x4 DriveControl.o
+                0x00802014                TimeSinceInit
+ .bss.IsRoving  0x00802018        0x1 DriveControl.o
+                0x00802018                IsRoving
+ .bss.USART_PC_Data
+                0x00802019        0xf DriveControl.o
+                0x00802019                USART_PC_Data
+ .bss.receiveArray
+                0x00802028        0x6 DriveControl.o
+                0x00802028                receiveArray
+ *(COMMON)
+                0x0080202e                PROVIDE (__bss_end, .)
+                0x000007f0                __data_load_start = LOADADDR (.data)
+                0x00000800                __data_load_end = (__data_load_start + SIZEOF (.data))
+
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+                0x0080202e                PROVIDE (__noinit_start, .)
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+                0x0080202e                PROVIDE (__heap_start, .)
+
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+ *(.eeprom*)
+                0x00810000                __eeprom_end = .
+
+.fuse
+ *(.fuse)
+ *(.lfuse)
+ *(.hfuse)
+ *(.efuse)
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+.lock
+ *(.lock*)
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+ *(.signature*)
+
+.user_signatures
+ *(.user_signatures*)
+
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+ *(.stab)
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+ *(.stab.excl)
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+ *(.stab.indexstr)
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+ *(.comment)
+ .comment       0x00000000       0x30 DriveControl.o
+                                 0x31 (size before relaxing)
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+ .comment       0x00000000       0x31 Sabertooth.o
+ .comment       0x00000000       0x31 usart_driver.o
+
+.note.gnu.build-id
+ *(.note.gnu.build-id)
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+ *(.debug)
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+ *(.debug_srcinfo)
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+ *(.debug_sfnames)
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+ *(.debug_aranges)
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+ .debug_aranges
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+
+.debug_pubnames
+ *(.debug_pubnames)
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+.debug_abbrev   0x00000000      0xa6e
+ *(.debug_abbrev)
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+
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+ *(.debug_frame)
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+
+.debug_str      0x00000000     0x10d0
+ *(.debug_str)
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+                                0xc41 (size before relaxing)
+ .debug_str     0x00000bb8      0x2e2 Misc.o
+                                0x73c (size before relaxing)
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+ .debug_str     0x00000f36      0x19a usart_driver.o
+                                0x478 (size before relaxing)
+
+.debug_loc      0x00000000      0xe3a
+ *(.debug_loc)
+ .debug_loc     0x00000000      0x3ca DriveControl.o
+ .debug_loc     0x000003ca      0x111 Misc.o
+ .debug_loc     0x000004db      0x570 Sabertooth.o
+ .debug_loc     0x00000a4b      0x3ef usart_driver.o
+
+.debug_macinfo
+ *(.debug_macinfo)
+
+.debug_weaknames
+ *(.debug_weaknames)
+
+.debug_funcnames
+ *(.debug_funcnames)
+
+.debug_typenames
+ *(.debug_typenames)
+
+.debug_varnames
+ *(.debug_varnames)
+
+.debug_pubtypes
+ *(.debug_pubtypes)
+
+.debug_ranges   0x00000000       0xf8
+ *(.debug_ranges)
+ .debug_ranges  0x00000000       0x30 DriveControl.o
+ .debug_ranges  0x00000030       0x30 Misc.o
+ .debug_ranges  0x00000060       0x40 Sabertooth.o
+ .debug_ranges  0x000000a0       0x58 usart_driver.o
+
+.debug_macro
+ *(.debug_macro)
+OUTPUT(DriveControl.elf elf32-avr)
+LOAD linker stubs

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/DriveControl.srec

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OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/Makefile

@@ -0,0 +1,153 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL := cmd.exe
+RM := rm -rf
+
+USER_OBJS :=
+
+LIBS := 
+PROJ := 
+
+O_SRCS := 
+C_SRCS := 
+S_SRCS := 
+S_UPPER_SRCS := 
+OBJ_SRCS := 
+ASM_SRCS := 
+PREPROCESSING_SRCS := 
+OBJS := 
+OBJS_AS_ARGS := 
+C_DEPS := 
+C_DEPS_AS_ARGS := 
+EXECUTABLES := 
+OUTPUT_FILE_PATH :=
+OUTPUT_FILE_PATH_AS_ARGS :=
+AVR_APP_PATH :=$$$AVR_APP_PATH$$$
+QUOTE := "
+ADDITIONAL_DEPENDENCIES:=
+OUTPUT_FILE_DEP:=
+LIB_DEP:=
+
+# Every subdirectory with source files must be described here
+SUBDIRS := 
+
+
+# Add inputs and outputs from these tool invocations to the build variables 
+C_SRCS +=  \
+../DriveControl.cpp \
+../Misc.cpp \
+../Sabertooth.cpp \
+../usart_driver.c
+
+
+PREPROCESSING_SRCS += 
+
+
+ASM_SRCS += 
+
+
+OBJS +=  \
+DriveControl.o \
+Misc.o \
+Sabertooth.o \
+usart_driver.o
+
+OBJS_AS_ARGS +=  \
+DriveControl.o \
+Misc.o \
+Sabertooth.o \
+usart_driver.o
+
+C_DEPS +=  \
+DriveControl.d \
+Misc.d \
+Sabertooth.d \
+usart_driver.d
+
+C_DEPS_AS_ARGS +=  \
+DriveControl.d \
+Misc.d \
+Sabertooth.d \
+usart_driver.d
+
+OUTPUT_FILE_PATH +=DriveControl.elf
+
+OUTPUT_FILE_PATH_AS_ARGS +=DriveControl.elf
+
+ADDITIONAL_DEPENDENCIES:=
+
+OUTPUT_FILE_DEP:= ./makedep.mk
+
+LIB_DEP+= 
+
+# AVR32/GNU C Compiler
+
+
+
+
+
+
+
+
+
+./%.o: .././%.c
+	@echo Building file: $<
+	@echo Invoking: AVR8/GNU C Compiler : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-gcc.exe$(QUOTE)  -x c -funsigned-char -funsigned-bitfields -DDEBUG  -O1 -ffunction-sections -fdata-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atxmega32d4 -c -std=gnu99 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+	
+
+./%.o: .././%.cpp
+	@echo Building file: $<
+	@echo Invoking: AVR8/GNU C Compiler : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -funsigned-char -funsigned-bitfields -DDEBUG  -O1 -ffunction-sections -fdata-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atxmega32d4 -c -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+	
+
+
+
+# AVR32/GNU Preprocessing Assembler
+
+
+
+# AVR32/GNU Assembler
+
+
+
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+endif
+
+# Add inputs and outputs from these tool invocations to the build variables 
+
+# All Target
+all: $(OUTPUT_FILE_PATH) $(ADDITIONAL_DEPENDENCIES)
+
+$(OUTPUT_FILE_PATH): $(OBJS) $(USER_OBJS) $(OUTPUT_FILE_DEP) $(LIB_DEP)
+	@echo Building target: $@
+	@echo Invoking: AVR8/GNU Linker : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -Wl,-Map="DriveControl.map" -Wl,--start-group -Wl,-lm  -Wl,--end-group -Wl,--gc-sections -mmcu=atxmega32d4  
+	@echo Finished building target: $@
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature -R .user_signatures  "DriveControl.elf" "DriveControl.hex"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -j .eeprom  --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0  --no-change-warnings -O ihex "DriveControl.elf" "DriveControl.eep" || exit 0
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objdump.exe" -h -S "DriveControl.elf" > "DriveControl.lss"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O srec -R .eeprom -R .fuse -R .lock -R .signature -R .user_signatures "DriveControl.elf" "DriveControl.srec"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-size.exe" "DriveControl.elf"
+	
+	
+
+
+
+
+
+# Other Targets
+clean:
+	-$(RM) $(OBJS_AS_ARGS) $(EXECUTABLES)  
+	-$(RM) $(C_DEPS_AS_ARGS)   
+	rm -rf "DriveControl.elf" "DriveControl.a" "DriveControl.hex" "DriveControl.lss" "DriveControl.eep" "DriveControl.map" "DriveControl.srec" "DriveControl.usersignatures"
+	

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/Misc.d

@@ -0,0 +1,68 @@
+Misc.d Misc.o: .././Misc.cpp .././Misc.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ .././usart_driver.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h
+
+.././Misc.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/Sabertooth.d

@@ -0,0 +1,68 @@
+Sabertooth.d Sabertooth.o: .././Sabertooth.cpp .././Sabertooth.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ .././usart_driver.h .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h
+
+.././Sabertooth.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/makedep.mk

@@ -0,0 +1,12 @@
+################################################################################
+# Automatically-generated file. Do not edit or delete the file
+################################################################################
+
+DriveControl.cpp
+
+Misc.cpp
+
+Sabertooth.cpp
+
+usart_driver.c
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Debug/usart_driver.d

@@ -0,0 +1,66 @@
+usart_driver.d usart_driver.o: .././usart_driver.c .././usart_driver.h \
+ .././avr_compiler.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h
+
+.././usart_driver.h:
+
+.././avr_compiler.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdbool.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdlib.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iox32d4.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\xmega.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\interrupt.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\pgmspace.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/DriveControl.atsln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "DriveControl", "DriveControl.cppproj", "{7BA4F01E-3997-4FE4-AE8D-3C4100C86D92}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{7BA4F01E-3997-4FE4-AE8D-3C4100C86D92}.Debug|AVR.ActiveCfg = Debug|AVR
+		{7BA4F01E-3997-4FE4-AE8D-3C4100C86D92}.Debug|AVR.Build.0 = Debug|AVR
+		{7BA4F01E-3997-4FE4-AE8D-3C4100C86D92}.Release|AVR.ActiveCfg = Release|AVR
+		{7BA4F01E-3997-4FE4-AE8D-3C4100C86D92}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/DriveControl.cpp

@@ -0,0 +1,166 @@
+/*
+ * DriveControl.cpp
+ *
+ * Created: 4/22/2014 8:54:20 PM
+ *  Author: corwin
+ PE3 - Status LED
+ */ 
+
+#define F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include "Sabertooth.h"
+#include "Misc.h"
+
+extern "C"{
+	#include "usart_driver.h"
+	#include "avr_compiler.h"
+};
+#define TIMEOUTMAX 20				//Time in seconds before state change back to init
+
+/*! Define that selects the Usart used in example. */
+#define XBEEDIO0 PIN5_bm //PORTA
+#define SabertoothTx PIN3_bm //PORTD
+#define StatusLight PIN3_bm //PORTE
+
+#define RECEIVE_PACKET_SIZE  6
+#define	SEND_PACKET_SIZE  4
+
+uint8_t sendArray[SEND_PACKET_SIZE] = {0x55, 0xaa, 0xf0};
+uint8_t receiveArray[RECEIVE_PACKET_SIZE];
+
+USART_data_t USART_PC_Data;
+ 
+bool IsRoving = false;
+
+volatile long unsigned int TimeSinceInit = 0;
+long unsigned int TimePrevious = 0;
+
+int main(void)
+{
+	SetXMEGA32MhzCalibrated();									//Set XMega to user 32Mhz internal oscillator with 32Khz crystal calibration
+	
+	///////Setup Inputs and Outputs///////
+	PORTC.DIRSET = (PIN5_bm | PIN6_bm | PIN7_bm | PIN3_bm);		//Sets outputs on port C
+	PORTC.DIRCLR = PIN2_bm;										//Sets inputs on PORT C
+	PORTA.DIRCLR = XBEEDIO0;
+	PORTE.DIRSET = PIN3_bm;									//Sets inputs on PORTA
+	
+	
+	///////Initialize Serial Communcations///////
+	SetupPCComms();												//Initializes PC Communications at 9600 baud0
+	_delay_ms(500);												//Delay to make sabertooth initialize
+	Sabertooth DriveSaber(&USARTD0, &PORTD);					//Initializes Sabertooth Communications at 9600 Baud
+	
+	
+	//////////////////Timers///////////////
+	TCC0.CTRLA = TC_CLKSEL_DIV1024_gc; //31250 counts per second with 32Mhz Processor
+	TCC0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCC0.PER = 15625;
+	TCC0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	
+	TCD0.CTRLA = TC_CLKSEL_DIV1024_gc; //31250 counts per second with 32Mhz Processor
+	TCD0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCD0.PER = 31250;
+	TCD0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	///////////////////Timers//////////////
+	
+	sei();														//Enables global interrupts so the interrupt serial can work
+	
+	////Semi-global vars//////
+	unsigned char BufferIdx = 0;
+	const char XMegaID[] = "ID: MainDrive\r\n";
+	enum MicroState{
+		WaitForHost,
+		Driving	
+	}XMegaState = WaitForHost;
+
+	while(1){
+		
+		switch(XMegaState){
+			case WaitForHost:
+				for(int i = 0 ; XMegaID[i] != '\0'; i++){
+					while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+					USART_PutChar(&USARTC0, XMegaID[i]);
+				}
+				_delay_ms(500);
+				if(USART_RXBufferData_Available(&USART_PC_Data)){
+					if(USART_RXBuffer_GetByte(&USART_PC_Data) == 'r'){
+						XMegaState = Driving;
+						//DriveSaber.ResetSaber();
+						FlushSerialBuffer(&USART_PC_Data);
+						USART_PutChar(&USARTC0, 'r');
+					}
+				}
+				TimePrevious = TimeSinceInit;
+				break;	
+				
+			case Driving:
+				if(USART_RXBufferData_Available(&USART_PC_Data)){
+					receiveArray[BufferIdx] = USART_RXBuffer_GetByte(&USART_PC_Data);
+					BufferIdx++;
+				}
+			
+				if(BufferIdx == RECEIVE_PACKET_SIZE){
+					FlushSerialBuffer(&USART_PC_Data);
+					if(IsRoving){
+						if(receiveArray[4] == PCComsChecksum(receiveArray[1], receiveArray[2], receiveArray[3])){
+							DriveSaber.ParsePacket(receiveArray[2], receiveArray[3]);
+						}
+					}else if(!IsRoving){
+						DriveSaber.ParsePacket(127, 127);
+					}					
+					BufferIdx = 0;
+					SendDriveControlStatus(&USARTC0, IsRoving, false);
+					TimePrevious = TimeSinceInit;
+				}
+				
+				if((TimeSinceInit - TimePrevious) > TIMEOUTMAX){
+					DriveSaber.StopAll();
+					XMegaState = WaitForHost;
+					TimePrevious = TimeSinceInit;
+				}
+				break;
+				
+		};	
+	/*
+		if(!IsRoving){
+			DriveSaber.StopAll();
+		}
+	*/
+		if((PORTA.IN & XBEEDIO0)){
+			ERROR_CLR();
+			IsRoving = true;
+		}else if((!(PORTA.IN & XBEEDIO0))){
+			ERROR_SET();
+			IsRoving = false;
+		}
+	
+	}
+}
+
+
+ISR(USARTC0_RXC_vect){
+	USART_RXComplete(&USART_PC_Data);
+}
+
+
+ISR(USARTC0_DRE_vect){
+	USART_DataRegEmpty(&USART_PC_Data);
+} 
+
+ISR(TCC0_OVF_vect){
+	if(IsRoving){
+		JUDGELED_TOGGLE();	
+	}else if(!IsRoving){
+		JUDGELED_SET();
+	}
+	
+}
+
+ISR(TCD0_OVF_vect){
+	STATUS2_TOGGLE();
+	TimeSinceInit++;
+}
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/DriveControl.cppproj

@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>6.2</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.CPP</ToolchainName>
+    <ProjectGuid>{7ba4f01e-3997-4fe4-ae8d-3c4100c86d92}</ProjectGuid>
+    <avrdevice>ATxmega32D4</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>CPP</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>DriveControl</AssemblyName>
+    <Name>DriveControl</Name>
+    <RootNamespace>DriveControl</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress>0x20000000</RamSnippetAddress>
+    <UncachedRange />
+    <OverrideVtorValue>exception_table</OverrideVtorValue>
+    <BootSegment>2</BootSegment>
+    <eraseonlaunchrule>0</eraseonlaunchrule>
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <offline-documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.15.0" />
+        </dependencies>
+      </framework-data>
+    </AsfFrameworkConfig>
+    <avrtool>com.atmel.avrdbg.tool.ispmk2</avrtool>
+    <avrtoolinterface>PDI</avrtoolinterface>
+    <com_atmel_avrdbg_tool_ispmk2>
+      <ToolOptions>
+        <InterfaceProperties>
+          <JtagEnableExtResetOnStartSession>false</JtagEnableExtResetOnStartSession>
+        </InterfaceProperties>
+        <InterfaceName>PDI</InterfaceName>
+      </ToolOptions>
+      <ToolType>com.atmel.avrdbg.tool.ispmk2</ToolType>
+      <ToolNumber>000200086630</ToolNumber>
+      <ToolName>AVRISP mkII</ToolName>
+    </com_atmel_avrdbg_tool_ispmk2>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <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>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcccpp.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>NDEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.optimization.level>Optimize for size (-Os)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGccCpp>
+        <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.common.outputfiles.srec>True</avrgcc.common.outputfiles.srec>
+        <avrgcc.common.outputfiles.usersignatures>False</avrgcc.common.outputfiles.usersignatures>
+        <avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcc.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcc.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcc.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>DEBUG</Value>
+          </ListValues>
+        </avrgcc.compiler.symbols.DefSymbols>
+        <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>
+        <avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultCharTypeUnsigned>
+        <avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>True</avrgcccpp.compiler.general.ChangeDefaultBitFieldUnsigned>
+        <avrgcccpp.compiler.symbols.DefSymbols>
+          <ListValues>
+            <Value>DEBUG</Value>
+          </ListValues>
+        </avrgcccpp.compiler.symbols.DefSymbols>
+        <avrgcccpp.compiler.optimization.level>Optimize (-O1)</avrgcccpp.compiler.optimization.level>
+        <avrgcccpp.compiler.optimization.PackStructureMembers>True</avrgcccpp.compiler.optimization.PackStructureMembers>
+        <avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcccpp.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcccpp.compiler.optimization.DebugLevel>Default (-g2)</avrgcccpp.compiler.optimization.DebugLevel>
+        <avrgcccpp.compiler.warnings.AllWarnings>True</avrgcccpp.compiler.warnings.AllWarnings>
+        <avrgcccpp.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcccpp.linker.libraries.Libraries>
+        <avrgcccpp.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcccpp.assembler.debugging.DebugLevel>
+      </AvrGccCpp>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="avr_compiler.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="DriveControl.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Misc.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Misc.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Sabertooth.cpp">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="Sabertooth.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="usart_driver.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="usart_driver.h">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Misc.cpp

@@ -0,0 +1,53 @@
+/*
+ * Misc.cpp
+ *
+ * Created: 4/30/2014 3:09:52 PM
+ *  Author: Corwin
+ */ 
+#include "Misc.h"
+#include <avr/io.h>
+
+void SetXMEGA32MhzCalibrated(){
+	CCP = CCP_IOREG_gc;						//Disable register security for oscillator update
+	OSC.CTRL = OSC_RC32MEN_bm;				//Enable 32MHz oscillator
+	while(!(OSC.STATUS & OSC_RC32MRDY_bm)); //Wait for oscillator to be ready
+	CCP = CCP_IOREG_gc;						//Disable register security for clock update
+	CLK.CTRL = CLK_SCLKSEL_RC32M_gc;		//Switch to 32MHz clock
+
+
+	CCP = CCP_IOREG_gc;						//Disable register security for oscillator update
+	OSC.CTRL |= OSC_RC32KEN_bm;				//Enable 32Khz oscillator
+	while(!(OSC.STATUS & OSC_RC32KRDY_bm)); //Wait for oscillator to be ready
+	OSC.DFLLCTRL &= ~OSC_RC32MCREF_bm;		//Set up calibration source to be 32Khz crystal
+	DFLLRC32M.CTRL |= DFLL_ENABLE_bm;		//Enable calibration of 32Mhz oscillator
+}
+
+void SetupPCComms(){
+	USART_InterruptDriver_Initialize(&USART_PC_Data, &USARTC0, USART_DREINTLVL_LO_gc);				//Initialize USARTC0 as interrupt driven serial and clear it's buffers
+	USART_Format_Set(USART_PC_Data.usart, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);	//Set the data format of 8 bits, no parity, 1 stop bit
+	USART_RxdInterruptLevel_Set(USART_PC_Data.usart, USART_RXCINTLVL_LO_gc);						//Enable the receive interrupt
+	USART_Baudrate_Set(&USARTC0, 207 , 0);															//Set baudrate to 9600 with 32Mhz system clock
+	USART_Rx_Enable(USART_PC_Data.usart);															//Enable receiving over serial
+	USART_Tx_Enable(USART_PC_Data.usart);															//Enable transmitting over serial
+	PMIC.CTRL |= PMIC_LOLVLEX_bm;																	//Enable PMIC interrupt level low (No idea what this does, but is necessary)
+}
+
+unsigned char PCComsChecksum(unsigned char command, unsigned char left, unsigned char right){
+	return (command ^ left ^ right);
+	
+}
+
+void SendDriveControlStatus(USART_t *PCComs, bool IsRoving, bool Checksum){
+	while(!USART_IsTXDataRegisterEmpty(PCComs));
+	USART_PutChar(PCComs, 255);
+	while(!USART_IsTXDataRegisterEmpty(PCComs));
+	USART_PutChar(PCComs, ((IsRoving << 0) | (Checksum << 1)));
+	while(!USART_IsTXDataRegisterEmpty(PCComs));
+	USART_PutChar(PCComs, 255);
+}
+
+void FlushSerialBuffer(USART_data_t *UsartBuffer){
+	while(USART_RXBufferData_Available(UsartBuffer)){
+		USART_RXBuffer_GetByte(UsartBuffer);
+	}
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Misc.h

@@ -0,0 +1,43 @@
+/*
+ * Misc.h
+ *
+ * Created: 4/30/2014 3:10:05 PM
+ *  Author: Corwin
+ */ 
+
+
+#ifndef MISC_H_
+#define MISC_H_
+#include <avr/io.h>
+
+//Custom Defined Macros
+#define STATUS1_SET(void) (PORTC.OUTSET = PIN6_bm)
+#define STATUS1_CLR(void) (PORTC.OUTCLR = PIN6_bm)
+#define STATUS1_TOGGLE(void) (PORTC.OUTTGL = PIN6_bm)
+
+#define STATUS2_SET(void) (PORTC.OUTSET = PIN5_bm)
+#define STATUS2_CLR(void) (PORTC.OUTCLR = PIN5_bm)
+#define STATUS2_TOGGLE(void) (PORTC.OUTTGL = PIN5_bm)
+
+#define ERROR_SET(void) (PORTC.OUTSET = PIN7_bm)
+#define ERROR_CLR(void) (PORTC.OUTCLR = PIN7_bm)
+#define ERROR_TOGGLE(void) (PORTC.OUTTGL = PIN7_bm)
+
+#define JUDGELED_SET(void) (PORTE.OUTSET = PIN3_bm)
+#define JUDGELED_CLR(void) (PORTE.OUTCLR = PIN3_bm)
+#define JUDGELED_TOGGLE(void) (PORTE.OUTTGL = PIN3_bm)
+
+extern "C"{
+	#include "usart_driver.h"
+	#include "avr_compiler.h"
+};
+
+extern USART_data_t USART_PC_Data;
+
+void SetXMEGA32MhzCalibrated();
+void SetupPCComms();
+unsigned char PCComsChecksum(unsigned char command, unsigned char left, unsigned char right);
+void SendDriveControlStatus(USART_t *PCComs, bool IsRoving, bool Checksum);
+void FlushSerialBuffer(USART_data_t *UsartBuffer);
+
+#endif /* MISC_H_ */

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Sabertooth.cpp

@@ -0,0 +1,115 @@
+/* 
+* Sabertooth.cpp
+*
+* Created: 4/30/2014 1:08:16 PM
+* Author: Corwin
+*/
+
+
+#include "Sabertooth.h"
+#include <avr/io.h>
+#include <util/delay.h>
+
+
+Sabertooth::Sabertooth(USART_t *USART_SaberUsart, PORT_t * SaberPORT)
+{
+	Sabertooth_USART = USART_SaberUsart;				//Sets the private variable to the USART being used
+	Sabertooth_PORT = SaberPORT;						//Sets the private variable for the PORT the USART is on
+	
+	Sabertooth_PORT->DIRSET = PIN3_bm;					//Sets the TX pin for the USART to an output
+	USART_Format_Set(Sabertooth_USART, USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);	//Sets the Sabertooth USART to run in 8 bit data, no parity, and 1 stop bit, 
+	USART_Baudrate_Set(Sabertooth_USART, 207 , 0);		//Sets the Sabertooth baud rate to 9600 when running at 32Mhz system clock
+	USART_Tx_Enable(Sabertooth_USART);					//Enable the USART transmit capabilities
+	_delay_ms(100);										//Delay to let things settle
+	
+	USART_PutChar(Sabertooth_USART, AUTOBAUD_BYTE);		//Send the autobaud byte to get the sabertooth communicating
+	SendDriveCmd(14, 20);								//Sets the communication watchdog on the sabertooth to (x*100ms) It's currently set to two seconds.
+	StopAll();											//Everything is now initialized, stop all motor movement to account for random noise or failed startups
+}
+
+void Sabertooth::DriveTest(){
+	
+	int i;
+	for(i = 0; i < 128 ; i++){
+		SendDriveCmd(LEFT_FORWARD, i);
+		SendDriveCmd(RIGHT_FORWARD, i);
+		_delay_ms(30);
+	}
+	for( ; i > 0 ; i--){
+		SendDriveCmd(LEFT_FORWARD, i);
+		SendDriveCmd(RIGHT_FORWARD, i);
+		_delay_ms(30);
+	}
+	
+		for(i = 0; i < 128 ; i++){
+			SendDriveCmd(LEFT_BACK, i);
+			SendDriveCmd(RIGHT_BACK, i);
+			_delay_ms(30);
+		}
+		for( ; i > 0 ; i--){
+			SendDriveCmd(LEFT_BACK, i);
+			SendDriveCmd(RIGHT_BACK, i);
+			_delay_ms(30);
+		}
+		
+}
+
+void Sabertooth::ParsePacket(unsigned char left, unsigned char right){
+	unsigned char command_left = LEFT_FORWARD;
+	unsigned char value_left = 0;
+	unsigned char command_right = RIGHT_FORWARD;
+	unsigned char value_right = 0;
+	
+	if(left == 127){
+		command_left = LEFT_FORWARD;
+		value_left = 0;
+	}else if(left < 127){
+		command_left = LEFT_BACK;
+		value_left = (127-left);
+	}else if(left > 127){
+		command_left = LEFT_FORWARD;
+		value_left = (left-127);
+	}
+	
+	if(right == 127){
+		command_right = RIGHT_FORWARD;
+		value_right = 0;
+		}else if(right < 127){
+		command_right = RIGHT_BACK;
+		value_right = (127-right);
+		}else if(right > 127){
+		command_right = RIGHT_FORWARD;
+		value_right = (right-127);
+	}
+	
+	SendDriveCmd(command_left, value_left);
+	SendDriveCmd(command_right, value_right);
+}
+
+void Sabertooth::StopAll(){
+	ParsePacket(127, 127);
+}
+
+unsigned char Sabertooth::SaberChecksum(unsigned char command, unsigned char value){
+	return ((SABERTOOTHADDRESS+command+value) & 127);
+}
+
+void Sabertooth::SendDriveCmd(char command, char value){
+	////////////////////////////////Testing.....
+	//while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));						//Necessary to make sure we don't overwrite data in the buffer
+	//USART_PutChar(Sabertooth_USART, AUTOBAUD_BYTE);								//Send the autobaud byte to get the sabertooth communicating
+	////////////////////////////////
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));						//Necessary to make sure we don't overwrite data in the buffer
+	USART_PutChar(Sabertooth_USART, SABERTOOTHADDRESS);							//Sends the address to the sabertooth
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));
+	USART_PutChar(Sabertooth_USART, command);									//Sends the command to the sabertooth
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));
+	USART_PutChar(Sabertooth_USART, value);										//Sends the value or speed to the sabertooth
+	while(!USART_IsTXDataRegisterEmpty(Sabertooth_USART));
+	USART_PutChar(Sabertooth_USART, SaberChecksum(command, value));				//Send the checksum of all these values to the sabertooth
+}
+
+void Sabertooth::ResetSaber(){
+	USART_PutChar(Sabertooth_USART, AUTOBAUD_BYTE);		//Send the autobaud byte to get the sabertooth communicating
+	SendDriveCmd(14, 20);								//Sets the communication watchdog on the sabertooth to (x*100ms) It's currently set to two seconds.
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/Sabertooth.h

@@ -0,0 +1,55 @@
+/* 
+* Sabertooth.h
+*
+* Created: 4/30/2014 1:08:16 PM
+* Author: Corwin
+*/
+
+
+#ifndef __SABERTOOTH_H__
+#define __SABERTOOTH_H__
+
+#define F_CPU 32000000UL
+#define SABERTOOTHADDRESS 128
+#define AUTOBAUD_BYTE 170
+
+#define LEFT_FORWARD 0
+#define LEFT_BACK 1
+#define RIGHT_FORWARD 4
+#define RIGHT_BACK 5
+
+
+#include <avr/io.h>
+#include <util/delay.h>
+
+extern "C"{
+	#include "usart_driver.h"
+	#include "avr_compiler.h"
+};
+
+class Sabertooth
+{
+//variables
+public:
+protected:
+private:
+
+//functions
+public:
+	Sabertooth(USART_t *USART_SaberUsart, PORT_t * SaberPORT);
+	void DriveTest();
+	void StopAll();
+	unsigned char SaberChecksum(unsigned char command, unsigned char value);
+	void ParsePacket(unsigned char left, unsigned char right);
+	void ResetSaber();
+protected:
+private:
+	void SendDriveCmd(char command, char value);
+	Sabertooth( const Sabertooth &c );
+	Sabertooth& operator=( const Sabertooth &c );
+	USART_t *Sabertooth_USART;
+	PORT_t *Sabertooth_PORT;
+
+}; //Sabertooth
+
+#endif //__SABERTOOTH_H__

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/TC_driver.c

@@ -0,0 +1,433 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA Timer/Counter driver source file.
+ *
+ *      This file contains the function implementations the XMEGA Timer/Counter
+ *      driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA Timer/Counter module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ *      Several functions use the following construct:
+ *          "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
+ *      Although the use of the ternary operator ( if ? then : else ) is discouraged,
+ *      in some occasions the operator makes it possible to write pretty clean and
+ *      neat code. In this driver, the construct is used to set or not set a
+ *      configuration bit based on a boolean input parameter, such as
+ *      the "some_parameter" in the example above.
+ *
+ * \par Application note:
+ *      AVR1306: Using the XMEGA Timer/Counter
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1569 $
+ * $Date: 2008-04-22 13:03:43 +0200 (ti, 22 apr 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#include "avr_compiler.h"
+#include "TC_driver.h"
+
+/*! \brief Configures clock source for the Timer/Counter 0.
+ *
+ *  This function clears the old clock source setting of the Timer/Counter and
+ *  sets a new clock source according to the clockSelection parameter.
+ *
+ *  \param tc              Timer/Counter module instance.
+ *  \param clockSelection  Timer/Counter clock source setting.
+ */
+void TC0_ConfigClockSource( volatile TC0_t * tc, TC_CLKSEL_t clockSelection )
+{
+	tc->CTRLA = ( tc->CTRLA & ~TC0_CLKSEL_gm ) | clockSelection;
+}
+
+/*! \brief Configures clock source for the Timer/Counter 1.
+ *
+ *  This function clears the old clock source setting of the Timer/Counter and
+ *  sets a new clock source according to the clockSelection parameter.
+ *
+ *  \param tc              Timer/Counter module instance.
+ *  \param clockSelection  Timer/Counter clock source setting.
+ */
+void TC1_ConfigClockSource( volatile TC1_t * tc, TC_CLKSEL_t clockSelection )
+{
+	tc->CTRLA = ( tc->CTRLA & ~TC1_CLKSEL_gm ) | clockSelection;
+}
+
+
+/*! \brief Configures the Waveform Generation Mode for the Timer/Counter 0.
+ *
+ *  This function clears the old WGM setting of the Timer/Counter and sets a
+ *  new WGM setting according to the wgm parameter.
+ *
+ *  \param tc    Timer/Counter module instance.
+ *  \param wgm   Waveform generation mode.
+ */
+void TC0_ConfigWGM( volatile TC0_t * tc, TC_WGMODE_t wgm )
+{
+	tc->CTRLB = ( tc->CTRLB & ~TC0_WGMODE_gm ) | wgm;
+}
+
+
+/*! \brief Configures the Waveform Generation Mode for the Timer/Counter 1.
+ *
+ *  This function clears the old WGM setting of the Timer/Counter and sets a
+ *  new WGM setting according to the wgm parameter.
+ *
+ *  \param tc    Timer/Counter module instance.
+ *  \param wgm   Waveform generation mode.
+ */
+void TC1_ConfigWGM( volatile TC1_t * tc, TC_WGMODE_t wgm )
+{
+	tc->CTRLB = ( tc->CTRLB & ~TC1_WGMODE_gm ) | wgm;
+}
+
+
+/*! \brief Configures the Timer/Counter 0 for input capture operation.
+ *
+ *  This function sets the Timer/Counter in input capture mode and selects
+ *  the event lines that will trigger the individual input capture channels.
+ *
+ *  \note Output compare operation is disabled when input capture operation is
+ *  enabled.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param eventSource      Event source selection.
+ */
+void TC0_ConfigInputCapture( volatile TC0_t * tc, TC_EVSEL_t eventSource )
+{
+	tc->CTRLD = ( tc->CTRLD & ~( TC0_EVSEL_gm | TC0_EVACT_gm ) ) |
+	            eventSource |
+	            TC_EVACT_CAPT_gc;
+}
+
+
+/*! \brief Configures the Timer/Counter 1 for input capture operation.
+ *
+ *  This function sets the Timer/Counter in input capture mode and selects
+ *  the event lines that will trigger the individual input capture channels.
+ *
+ *  \note Output compare operation is disabled when input capture operation is
+ *  enabled.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param eventSource      Event source selection.
+ */
+void TC1_ConfigInputCapture( volatile TC1_t * tc, TC_EVSEL_t eventSource )
+{
+	tc->CTRLD = ( tc->CTRLD & ~( TC1_EVSEL_gm | TC1_EVACT_gm ) ) |
+	            eventSource |
+	            TC_EVACT_CAPT_gc;
+}
+
+
+/*! \brief Enables compare/capture channels for Timer/Counter 0.
+ *
+ *  This function enables compare/capture channels according to the supplied
+ *  enableMask. The enableMask can be obtained by ORing together the symbols
+ *    - TC0_CCAEN_bm
+ *    - TC0_CCBEN_bm
+ *    - TC0_CCCEN_bm
+ *    - TC0_CCDEN_bm
+ *
+ *  Example: TC0_EnableCCChannels( &TCC0, TC0_CCAEN_bm | TC0_CCCEN_bm ) will
+ *  enable channels A and C.
+ *
+ *  \note No capture/compare channels are disabled by calling this function.
+ *  Disabling is done by calling \ref TC0_DisableCCChannels.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param enableMask       Mask of channels to enable.
+ */
+void TC0_EnableCCChannels( volatile TC0_t * tc, uint8_t enableMask )
+{
+	/* Make sure only CCxEN bits are set in enableMask. */
+	enableMask &= ( TC0_CCAEN_bm | TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm );
+
+	/* Enable channels. */
+	tc->CTRLB |= enableMask;
+}
+
+/*! \brief Enables compare/capture channels for Timer/Counter 1.
+ *
+ *  This function enables compare/capture channels according to the supplied
+ *  enableMask. The enableMask can be obtained by ORing together the symbols
+ *    - TC1_CCAEN_bm
+ *    - TC1_CCBEN_bm
+ *
+ *  Example: TC1_EnableCCChannels( &TCC1, TC1_CCAEN_bm | TC1_CCBEN_bm ) will
+ *  enable channels A and B.
+ *
+ *  \note No capture/compare channels are disabled by calling this function.
+ *  Disabling is done by calling \ref TC1_DisableCCChannels.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param enableMask       Mask of channels to enable.
+ */
+void TC1_EnableCCChannels( volatile TC1_t * tc, uint8_t enableMask )
+{
+	/* Make sure only CCxEN bits are set in enableMask. */
+	enableMask &= ( TC1_CCAEN_bm | TC1_CCBEN_bm );
+
+	/* Enable channels. */
+	tc->CTRLB |= enableMask;
+}
+
+
+/*! \brief Disables compare/capture channels on Timer/Counter 0.
+ *
+ *  This function disables compare/capture channels according to the supplied
+ *  disableMask. The disableMask can be obtained by ORing together the symbols
+ *    - TC0_CCAEN_bm
+ *    - TC0_CCBEN_bm
+ *    - TC0_CCCEN_bm
+ *    - TC0_CCDEN_bm
+ *
+ *  Example: TC0_DisableCCChannels( &TCC0, TC0_CCAEN_bm | TC0_CCCEN_bm ) will
+ *  disable channels A and C.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param disableMask      Mask of channels to disable.
+ */
+void TC0_DisableCCChannels( volatile TC0_t * tc, uint8_t disableMask )
+{
+	/* Make sure only CCxEN bits are set in disableMask. */
+	disableMask &= ( TC0_CCAEN_bm | TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm );
+
+	/* Disable channels. */
+	tc->CTRLB &= ~disableMask;
+}
+
+
+/*! \brief Disables compare/capture channels on Timer/Counter 1.
+ *
+ *  This function disables compare/capture channels according to the supplied
+ *  disableMask. The disableMask can be obtained by ORing together the symbols
+ *    - TC1_CCAEN_bm
+ *    - TC1_CCBEN_bm
+ *
+ *  Example: TC1_DisableCCChannels( &TCC1, TC1_CCAEN_bm | TC1_CCBEN_bm ) will
+ *  disable channels A and B.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param disableMask      Mask of channels to disable.
+ */
+void TC1_DisableCCChannels( volatile TC1_t * tc, uint8_t disableMask )
+{
+	/* Make sure only CCxEN bits are set in disableMask. */
+	disableMask &= ( TC1_CCAEN_bm | TC1_CCBEN_bm );
+
+	/* Disable channels. */
+	tc->CTRLB &= ~disableMask;
+}
+
+/*! \brief Sets the overflow interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New overflow interrupt level.
+ */
+void TC0_SetOverflowIntLevel( volatile TC0_t * tc, TC_OVFINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC0_OVFINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the overflow interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New overflow interrupt level.
+ */
+void TC1_SetOverflowIntLevel( volatile TC1_t * tc, TC_OVFINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC1_OVFINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the Error interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New error interrupt level.
+ */
+void TC0_SetErrorIntLevel( volatile TC0_t * tc, TC_ERRINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC0_ERRINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the Error interrupt level.
+ *
+ *  This function sets the overflow interrupt level of this Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New error interrupt level.
+ */
+void TC1_SetErrorIntLevel( volatile TC1_t * tc, TC_ERRINTLVL_t intLevel )
+{
+	tc->INTCTRLA = ( tc->INTCTRLA & ~TC1_ERRINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel A interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel A
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC0_SetCCAIntLevel( volatile TC0_t * tc, TC_CCAINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCAINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel A interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel A
+ *  interrupt in Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC1_SetCCAIntLevel( volatile TC1_t * tc, TC_CCAINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC1_CCAINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel B interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel B
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel B interrupt level.
+ */
+void TC0_SetCCBIntLevel( volatile TC0_t * tc, TC_CCBINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCBINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel B interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel B
+ *  interrupt in Timer/Counter 1.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel B interrupt level.
+ */
+void TC1_SetCCBIntLevel( volatile TC1_t * tc, TC_CCBINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC1_CCBINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel C interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel C
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC0_SetCCCIntLevel( volatile TC0_t * tc, TC_CCCINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCCINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Sets the interrupt level for compare/capture channel D interrupt.
+ *
+ *  This function sets the interrupt level for compare/capture channel D
+ *  interrupt in Timer/Counter 0.
+ *
+ *  \param tc               Timer/Counter module instance.
+ *  \param intLevel         New compare/capture channel A interrupt level.
+ */
+void TC0_SetCCDIntLevel( volatile TC0_t * tc, TC_CCDINTLVL_t intLevel )
+{
+	tc->INTCTRLB = ( tc->INTCTRLB & ~TC0_CCDINTLVL_gm ) | intLevel;
+}
+
+
+/*! \brief Resets the Timer/Counter 0.
+ *
+ *  This function will reset the Timer/Counter. After calling this function,
+ *  the Timer/Counter will be in the same state as it would after a full
+ *  reset of the device.
+ *
+ *  \param tc  Timer/Counter 0 module instance.
+ */
+void TC0_Reset( volatile TC0_t * tc )
+{
+	/* TC must be turned off before a Reset command. */
+	tc->CTRLA = ( tc->CTRLA & ~TC0_CLKSEL_gm ) | TC_CLKSEL_OFF_gc;
+
+	/* Issue Reset command. */
+	tc->CTRLFSET = TC_CMD_RESET_gc;
+}
+
+
+/*! \brief Resets the Timer/Counter 1.
+ *
+ *  This function will reset the Timer/Counter. After calling this function,
+ *  the Timer/Counter will be in the same state as it would after a full
+ *  reset of the device.
+ *
+ *  \param tc  Timer/Counter 1 module instance.
+ */
+void TC1_Reset( volatile TC1_t * tc )
+{
+	/* TC must be turned off before a Reset command. */
+	tc->CTRLA = ( tc->CTRLA & ~TC1_CLKSEL_gm ) | TC_CLKSEL_OFF_gc;
+
+	/* Issue Reset command. */
+	tc->CTRLFSET = TC_CMD_RESET_gc;
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/TC_driver.h

@@ -0,0 +1,423 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA Timer/Counter driver header file.
+ *
+ *      This file contains the function prototypes and enumerator definitions
+ *      for various configuration parameters for the XMEGA Timer/Counter driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA Timer/Counter module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ * \par Application note:
+ *      AVR1306: Using the XMEGA Timer/Counter
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1569 $
+ * $Date: 2008-04-22 13:03:43 +0200 (ti, 22 apr 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#ifndef TC_DRIVER_H
+#define TC_DRIVER_H
+
+#include "avr_compiler.h"
+
+/* Definition of macros. */
+
+/*! \brief Enables the event delay for this TC.
+ *
+ *  This macro enables a one clock cycle delay of event sources for this TC.
+ *  Mainly used for the high word TC when two TCs are cascaded to form a 32-bit
+ *  TC.
+ *
+ *  \param _tc  The Timer/Counter to enable delay on.
+ */
+#define TC_EnableEventDelay( _tc )  ( (_tc)->CTRLD |= TC0_EVDLY_bm )
+
+/*! \brief  This macro disables the event delay for this TC.
+ *
+ *  \param _tc  The Timer/Counter to disable delay on.
+ */
+#define TC_DisableEventDelay( _tc ) ( (_tc)->CTRLD &= ~TC0_EVDLY_bm )
+
+/*! \brief Locks automatic updating of compare and period registers.
+ *
+ *  This macro will lock automatic updates of compare registers from the
+ *  corresponding buffer registers. To enable automatic updates again, use the
+ *  \ref TC_UnlockCompareUpdate macro.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ */
+#define TC_LockCompareUpdate( _tc ) ( (_tc)->CTRLFSET = TC0_LUPD_bm )
+
+/*! \brief Unlocks automatic updating of compare and period registers.
+ *
+ *  This macro will unlock automatic updates of compare registers from the
+ *  corresponding buffer registers. Note that the output compare registers will
+ *  not be updated until an update event occurs, e.g. that the counter hits
+ *  TOP or BOTTOM. To force an update of the compare register from the buffer
+ *  register, use the \ref TC_ForceUpdate macro.
+ *
+ *  \param _tc               Timer/Counter module instance.
+ */
+#define TC_UnlockCompareUpdate( _tc ) ( (_tc)->CTRLFCLR = TC0_LUPD_bm )
+
+
+/*! \brief Force an update of the output compare and period registers.
+ *
+ *  This macro will trigger a transfer from the output compare and period
+ *  buffer registers ( CCxBUF and PERBUF ) to the output compare and period
+ *  registers ( CCx and PER ). Calling this macro has the same effect as an
+ *  update condition.
+ *
+ *  \param _tc    Timer/Counter module instance.
+ */
+#define TC_ForceUpdate( _tc ) ( (_tc)->CTRLFSET = TC_CMD_UPDATE_gc )
+
+/*! \brief Restart the Timer/Counter.
+ *
+ *  This macro will restart the timer. The effect of running this command is:
+ *    - The CNT[H:L] register is cleared.
+ *    - The direction (DIR ) is reset. (Next clock cycle will increase the counter )
+ *    - All compare outputs are set to 0.
+ *    - If a DTI module is connected to the timer, it will be reset as well.
+ *
+ *  \param _tc    Timer/Counter module instance.
+ */
+#define TC_Restart( _tc ) ( (_tc)->CTRLFSET = TC_CMD_RESTART_gc )
+
+/*! \brief Manually set the count.
+ *
+ *  This macro writes a new value to the CNT[H:L] register.
+ *  Note that the CNT[H:L] register is not double buffered, so it is recommended
+ *  that the timer is not running when this macro is used.
+ *
+ *  \param _tc               Timer/Counter module instance.
+ *  \param _count            New count value.
+ */
+#define TC_SetCount( _tc, _count ) ( (_tc)->CNT = (_count) )
+
+/*! \brief Sets the timer period.
+ *
+ *  This macro sets a new timer period. The period buffer register is not
+ *  used, so the new period will be valid immediately after the 16-bit write
+ *  is finished.
+ *
+ *  \param _tc               Timer/Counter module instance.
+ *  \param _period           New Timer/Counter period.
+ */
+#define TC_SetPeriod( _tc, _period ) ( (_tc)->PER = (_period) )
+
+/*! \brief Sets the timer period ( double buffered ).
+ *
+ *  This macro sets a new timer period. The period buffer register is used,
+ *  so the new period will be valid after the next update condition.
+ *
+ *  \param _tc               Timer/Counter 0 or 1 module instance.
+ *  \param _period           New Timer/Counter period.
+ */
+#define TC_SetPeriodBuffered( _tc, _period ) ( (_tc)->PERBUF = (_period) )
+
+/*! \brief Set new compare value for compare channel A. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel A. The compare
+ *  channel A buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \param _tc               Timer/Counter 0 or 1 module instance.
+ *  \param _compareValue     New compare value for compare channel A.
+ */
+#define TC_SetCompareA( _tc, _compareValue ) ( (_tc)->CCABUF = (_compareValue) )
+
+/*! \brief Set new compare value for compare channel B. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel B. The compare
+ *  channel B buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \param _tc               Timer/Counter 0 or 1 module instance.
+ *  \param _compareValue     New compare value for compare channel B.
+ */
+#define TC_SetCompareB( _tc, _compareValue ) ( (_tc)->CCBBUF = (_compareValue) )
+
+/*! \brief Set new compare value for compare channel C. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel C. The compare
+ *  channel C buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc               Timer/Counter 0 module instance.
+ *  \param _compareValue     New compare value for compare channel C.
+ */
+#define TC_SetCompareC( _tc, _compareValue ) ( (_tc)->CCCBUF = (_compareValue) )
+
+/*! \brief Set new compare value for compare channel D. ( Double buffered )
+ *
+ *  This macro sets a new compare value for compare channel D. The compare
+ *  channel D buffer register is used, so the new period will be valid from the
+ *  next update condition.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc               Timer/Counter 0 module instance.
+ *  \param _compareValue     New compare value for compare channel D.
+ */
+#define TC_SetCompareD( _tc, _compareValue ) ( (_tc)->CCDBUF = (_compareValue) )
+
+/*! \brief Test whether an overflow has occurred.
+ *
+ *  The return value of this macro indicates if an overflow has occurred.
+ *
+ *  \param  _tc Timer/Counter module instance.
+ *
+ *  \return Non-zero if overflow flag is set, zero otherwise.
+ */
+#define TC_GetOverflowFlag( _tc ) ( (_tc)->INTFLAGS & TC0_OVFIF_bm )
+
+/*! \brief Clears the Timer/Counter overflow flag.
+ *
+ *   This macro clears the Timer/Counter overflow flag.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ */
+#define TC_ClearOverflowFlag( _tc ) ( (_tc)->INTFLAGS = TC0_OVFIF_bm )
+
+/*! \brief Test whether an error has occurred.
+ *
+ *  The return value of this macro indicates if an error has occurred.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ *
+ *  \return Non-zero if the Timer error flag is set.
+ */
+#define TC_GetErrorFlag( _tc ) ( (_tc)->INTFLAGS & TC0_ERRIF_bm )
+
+/*! \brief Clears the Timer/Counter error flag.
+ *
+ *   This macro clears the Timer/Counter error flag.
+ *
+ *  \param _tc  Timer/Counter module instance.
+ */
+#define TC_ClearErrorFlag( _tc ) ( (_tc)->INTFLAGS = TC0_ERRIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel A.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel A.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel A and the
+ *  counter.
+ *
+ *  \param _tc  Timer/Counter 0 or 1 module instance.
+ *
+ *  \return Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCAFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCAIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture A interrupt flag.
+ *
+ *  \param _tc   Timer/Counter 0 or 1 module instance.
+ */
+#define TC_ClearCCAFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCAIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel B.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel B.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel B and the
+ *  counter.
+ *
+ *  \param _tc   Timer/Counter 0 or 1 module instance.
+ *
+ *  \return Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCBFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCBIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture B interrupt flag.
+ *
+ *  \param _tc   Timer/Counter 0 or 1 module instance.
+ */
+#define TC_ClearCCBFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCBIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel C.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel C.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel C and the
+ *  counter.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCCFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCCIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture C interrupt flag.
+ *
+ *   This macro clears the Timer/Counter compare or capture C interrupt flag.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc   Timer/Counter 0 module instance.
+ */
+#define TC_ClearCCCFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCCIF_bm )
+
+/*! \brief Get the status for Compare or Capture channel D.
+ *
+ *  When the TC is in Input Capture mode, the return value of this macro
+ *  indicates whether there is an unread input capture value available for
+ *  capture channel D.
+ *
+ *  When the TC is in any other mode, the return value of this macro
+ *  indicates whether there has been a compare match between channel D and the
+ *  counter.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       Non-zero if Compare or capture has occured, zero otherwise.
+ */
+#define TC_GetCCDFlag( _tc ) ( (_tc)->INTFLAGS & TC0_CCDIF_bm )
+
+/*! \brief Clears the Timer/Counter compare or capture D interrupt flag.
+ *
+ *   This macro clears the Timer/Counter compare or capture D interrupt flag.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ */
+#define TC_ClearCCDFlag( _tc ) ( (_tc)->INTFLAGS = TC0_CCDIF_bm )
+
+
+/*! \brief Reads the first available input capture value for channel A.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel A.
+ *
+ *  \param _tc    Timer/Counter 0 or 1 module instance.
+ *
+ *  \return       The first available input capture value for channel A.
+ */
+#define TC_GetCaptureA( _tc ) ( (_tc)->CCA )
+
+/*! \brief Reads the first available input capture value for channel B.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel B.
+ *
+ *  \param _tc    Timer/Counter 0 or 1 module instance.
+ *
+ *  \return       The first available input capture value for channel B.
+ */
+#define TC_GetCaptureB( _tc ) ( (_tc)->CCB )
+
+/*! \brief Reads the first available input capture value for channel C.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel C.
+ *
+ *  \note The CCC channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       The first available input capture value for channel C.
+ */
+#define TC_GetCaptureC( _tc ) ( (_tc)->CCC )
+
+/*! \brief Reads the first available input capture value for channel D.
+ *
+ *  This macro returns the first available input capture value for
+ *  capture channel D.
+ *
+ *  \note The CCD channel is not available on TCx1.
+ *
+ *  \param _tc    Timer/Counter 0 module instance.
+ *
+ *  \return       The first available input capture value for channel D.
+ */
+#define TC_GetCaptureD( _tc ) ( (_tc)->CCD )
+
+
+/* Prototyping of functions. Documentation can be found in source file. */
+
+void TC0_ConfigClockSource( volatile TC0_t * tc, TC_CLKSEL_t clockSelection );
+void TC0_ConfigWGM( volatile TC0_t * tc, TC_WGMODE_t wgm );
+void TC0_ConfigInputCapture( volatile TC0_t * tc, TC_EVSEL_t eventSource );
+void TC0_EnableCCChannels( volatile TC0_t * tc, uint8_t enableMask );
+void TC0_DisableCCChannels( volatile TC0_t * tc, uint8_t disableMask );
+void TC0_SetOverflowIntLevel( volatile TC0_t * tc, TC_OVFINTLVL_t intLevel );
+void TC0_SetErrorIntLevel( volatile TC0_t * tc, TC_ERRINTLVL_t intLevel );
+void TC0_SetCCAIntLevel( volatile TC0_t * tc, TC_CCAINTLVL_t intLevel );
+void TC0_SetCCBIntLevel( volatile TC0_t * tc, TC_CCBINTLVL_t intLevel );
+void TC0_SetCCCIntLevel( volatile TC0_t * tc, TC_CCCINTLVL_t intLevel );
+void TC0_SetCCDIntLevel( volatile TC0_t * tc, TC_CCDINTLVL_t intLevel );
+void TC0_Reset( volatile TC0_t * tc );
+
+void TC1_ConfigClockSource( volatile TC1_t * tc, TC_CLKSEL_t clockSelection );
+void TC1_ConfigWGM( volatile TC1_t * tc, TC_WGMODE_t wgm );
+void TC1_ConfigInputCapture( volatile TC1_t * tc, TC_EVSEL_t eventSource );
+void TC1_EnableCCChannels( volatile TC1_t * tc, uint8_t enableMask );
+void TC1_DisableCCChannels( volatile TC1_t * tc, uint8_t disableMask );
+void TC1_SetOverflowIntLevel( volatile TC1_t * tc, TC_OVFINTLVL_t intLevel );
+void TC1_SetErrorIntLevel( volatile TC1_t * tc, TC_ERRINTLVL_t intLevel );
+void TC1_SetCCAIntLevel( volatile TC1_t * tc, TC_CCAINTLVL_t intLevel );
+void TC1_SetCCBIntLevel( volatile TC1_t * tc, TC_CCBINTLVL_t intLevel );
+void TC1_SetCCCIntLevel( volatile TC1_t * tc, TC_CCCINTLVL_t intLevel );
+void TC1_SetCCDIntLevel( volatile TC1_t * tc, TC_CCDINTLVL_t intLevel );
+void TC1_Reset( volatile TC1_t * tc );
+
+
+#endif

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/avr_compiler.h

@@ -0,0 +1,154 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief This file implements some macros that makes the IAR C-compiler and
+ *        avr-gcc work with the same code base for the AVR architecture.
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+#ifndef COMPILER_AVR_H
+#define COMPILER_AVR_H
+
+#ifndef F_CPU
+/*! \brief Define default CPU frequency, if this is not already defined. */
+#define F_CPU 2000000UL
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+/*! \brief This macro will protect the following code from interrupts. */
+#define AVR_ENTER_CRITICAL_REGION( ) uint8_t volatile saved_sreg = SREG; \
+                                     cli();
+
+/*! \brief This macro must always be used in conjunction with AVR_ENTER_CRITICAL_REGION
+ *        so the interrupts are enabled again.
+ */
+#define AVR_LEAVE_CRITICAL_REGION( ) SREG = saved_sreg;
+
+#if defined( __ICCAVR__ )
+
+#include <inavr.h>
+#include <ioavr.h>
+#include <intrinsics.h>
+#include <pgmspace.h>
+
+#ifndef __HAS_ELPM__
+#define _MEMATTR  __flash
+#else /* __HAS_ELPM__ */
+#define _MEMATTR  __farflash
+#endif /* __HAS_ELPM__ */
+
+/*! \brief Perform a delay of \c us microseconds.
+ *
+ *  The macro F_CPU is supposed to be defined to a constant defining the CPU
+ *  clock frequency (in Hertz).
+ *
+ *  The maximal possible delay is 262.14 ms / F_CPU in MHz.
+ *
+ *  \note For the IAR compiler, currently F_CPU must be a
+ *        multiple of 1000000UL (1 MHz).
+ */
+#define delay_us( us )   ( __delay_cycles( ( F_CPU / 1000000UL ) * ( us ) ) )
+
+/*! \brief Preprocessor magic.
+ *
+ *  Some preprocessor magic to allow for a header file abstraction of
+ *  interrupt service routine declarations for the IAR compiler.  This
+ *  requires the use of the C99 _Pragma() directive (rather than the
+ *  old #pragma one that could not be used as a macro replacement), as
+ *  well as two different levels of preprocessor concetanations in
+ *  order to do both, assign the correct interrupt vector name, as well
+ *  as construct a unique function name for the ISR.
+ *
+ *  \note Do *NOT* try to reorder the macros below, as this will only
+ *        work in the given order.
+ */
+#define PRAGMA(x) _Pragma( #x )
+#define ISR(vec) PRAGMA( vector=vec ) __interrupt void handler_##vec(void)
+#define sei( ) (__enable_interrupt( ))
+#define cli( ) (__disable_interrupt( ))
+
+/*! \brief Define the no operation macro. */
+#define nop( ) (__no_operation())
+
+/*! \brief Define the watchdog reset macro. */
+#define watchdog_reset( ) (__watchdog_reset( ))
+
+
+#define INLINE PRAGMA( inline=forced ) static
+
+#define FLASH_DECLARE(x) _MEMATTR x
+#define FLASH_STRING(x) ((_MEMATTR const char *)(x))
+#define FLASH_STRING_T  char const _MEMATTR *
+#define FLASH_BYTE_ARRAY_T uint8_t const _MEMATTR *
+#define PGM_READ_BYTE(x) *(x)
+#define PGM_READ_WORD(x) *(x)
+
+#define SHORTENUM /**/
+
+#elif defined( __GNUC__ )
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/delay.h>
+
+/*! \brief Define the delay_us macro for GCC. */
+#define delay_us( us )   (_delay_us( us ))
+
+#define INLINE static inline
+
+/*! \brief Define the no operation macro. */
+#define nop()   do { __asm__ __volatile__ ("nop"); } while (0)
+
+#define MAIN_TASK_PROLOGUE int
+
+
+#define MAIN_TASK_EPILOGUE() return -1;
+
+#define SHORTENUM __attribute__ ((packed))
+
+#else
+#error Compiler not supported.
+#endif
+
+#endif
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/backup.cpp

@@ -0,0 +1,170 @@
+/*
+ * DriveControl.cpp
+ *
+ * Created: 4/22/2014 8:54:20 PM
+ *  Author: corwin
+ PE3 - Status LED
+ */ 
+
+#define F_CPU 32000000UL
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include "Sabertooth.h"
+#include "Misc.h"
+
+extern "C"{
+	#include "usart_driver.h"
+	#include "avr_compiler.h"
+};
+#define TIMEOUTMAX 5				//Time in seconds before state change back to init
+
+/*! Define that selects the Usart used in example. */
+#define XBEEDIO0 PIN5_bm //PORTA
+#define SabertoothTx PIN3_bm //PORTD
+#define StatusLight PIN3_bm //PORTE
+
+#define RECEIVE_PACKET_SIZE  6
+#define	SEND_PACKET_SIZE  4
+
+uint8_t sendArray[SEND_PACKET_SIZE] = {0x55, 0xaa, 0xf0};
+uint8_t receiveArray[RECEIVE_PACKET_SIZE];
+
+USART_data_t USART_PC_Data;
+ 
+bool IsRoving = false;
+
+volatile long unsigned int TimeSinceInit = 0;
+long unsigned int TimePrevious = 0;
+
+int main(void)
+{
+	SetXMEGA32MhzCalibrated();									//Set XMega to user 32Mhz internal oscillator with 32Khz crystal calibration
+	
+	///////Setup Inputs and Outputs///////
+	PORTC.DIRSET = (PIN5_bm | PIN6_bm | PIN7_bm | PIN3_bm);		//Sets outputs on port C
+	PORTC.DIRCLR = PIN2_bm;										//Sets inputs on PORT C
+	PORTA.DIRCLR = XBEEDIO0;
+	PORTE.DIRSET = PIN3_bm;									//Sets inputs on PORTA
+	
+	
+	///////Initialize Serial Communcations///////
+	SetupPCComms();												//Initializes PC Communications at 9600 baud0
+	_delay_ms(500);												//Delay to make sabertooth initialize
+	Sabertooth DriveSaber(&USARTD0, &PORTD);					//Initializes Sabertooth Communications at 9600 Baud
+	
+	
+	//////////////////Timers///////////////
+	TCC0.CTRLA = TC_CLKSEL_DIV1024_gc; //31250 counts per second with 32Mhz Processor
+	TCC0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCC0.PER = 15625;
+	TCC0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	
+	TCD0.CTRLA = TC_CLKSEL_DIV1024_gc; //31250 counts per second with 32Mhz Processor
+	TCD0.CTRLB = TC_WGMODE_NORMAL_gc;
+	TCD0.PER = 31250;
+	TCD0.INTCTRLA = TC_OVFINTLVL_LO_gc;
+	///////////////////Timers//////////////
+	
+	sei();														//Enables global interrupts so the interrupt serial can work
+	
+	////Semi-global vars//////
+	unsigned char BufferIdx = 0;
+	const char XMegaID[] = "ID: MainDrive\r\n";
+	enum MicroState{
+		WaitForHost,
+		Driving	
+	}XMegaState = WaitForHost;
+
+	while(1){
+		
+		switch(XMegaState){
+			case WaitForHost:
+				for(int i = 0 ; XMegaID[i] != '\0'; i++){
+					while(!USART_IsTXDataRegisterEmpty(&USARTC0));
+					USART_PutChar(&USARTC0, XMegaID[i]);
+				}
+				_delay_ms(500);
+				if(USART_RXBufferData_Available(&USART_PC_Data)){
+					if(USART_RXBuffer_GetByte(&USART_PC_Data) == 'r'){
+						XMegaState = Driving;
+						USART_PutChar(&USARTC0, 'r');
+						BufferIdx = 0;
+					}
+				}
+				TimePrevious = TimeSinceInit;
+				break;	
+				
+			case Driving:
+				if(USART_RXBufferData_Available(&USART_PC_Data)){
+					receiveArray[BufferIdx] = USART_RXBuffer_GetByte(&USART_PC_Data);
+					BufferIdx++;
+				}
+			
+				if(BufferIdx == RECEIVE_PACKET_SIZE){
+					FlushSerialBuffer(&USART_PC_Data);
+					
+					if(IsRoving){
+						if(receiveArray[4] == PCComsChecksum(receiveArray[1], receiveArray[2], receiveArray[3])){
+							DriveSaber.ParsePacket(receiveArray[2], receiveArray[3]);
+							STATUS1_SET();
+						}
+						else{STATUS1_CLR();}
+					}else if(!IsRoving){
+						_delay_ms(10);
+					}
+					
+					BufferIdx = 0;
+					SendDriveControlStatus(&USARTC0, IsRoving, false);
+					TimePrevious = TimeSinceInit;
+				}					
+					
+				
+				if((TimeSinceInit - TimePrevious) > TIMEOUTMAX){
+					DriveSaber.StopAll();
+					XMegaState = WaitForHost;
+					TimePrevious = TimeSinceInit;
+				}
+				break;
+				
+		};	
+	
+		if(!IsRoving){
+			DriveSaber.StopAll();
+		}
+	
+		if((PORTA.IN & XBEEDIO0)){
+			ERROR_CLR();
+			IsRoving = true;
+		}else if((!(PORTA.IN & XBEEDIO0))){
+			ERROR_SET();
+			IsRoving = false;
+		}
+	
+	}
+}
+
+
+ISR(USARTC0_RXC_vect){
+	USART_RXComplete(&USART_PC_Data);
+}
+
+
+ISR(USARTC0_DRE_vect){
+	USART_DataRegEmpty(&USART_PC_Data);
+} 
+
+ISR(TCC0_OVF_vect){
+	if(IsRoving){
+		JUDGELED_TOGGLE();	
+	}else if(!IsRoving){
+		JUDGELED_SET();
+	}
+	
+}
+
+ISR(TCD0_OVF_vect){
+	STATUS2_TOGGLE();
+	TimeSinceInit++;
+}
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/usart_driver.c

@@ -0,0 +1,320 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief
+ *      XMEGA USART driver source file.
+ *
+ *      This file contains the function implementations the XMEGA interrupt
+ *      and polled USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ *      Some functions use the following construct:
+ *          "some_register = ... | (some_parameter ? SOME_BIT_bm : 0) | ..."
+ *      Although the use of the ternary operator ( if ? then : else ) is discouraged,
+ *      in some occasions the operator makes it possible to write pretty clean and
+ *      neat code. In this driver, the construct is used to set or not set a
+ *      configuration bit based on a boolean input parameter, such as
+ *      the "some_parameter" in the example above.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#include "usart_driver.h"
+
+
+
+/*! \brief Initializes buffer and selects what USART module to use.
+ *
+ *  Initializes receive and transmit buffer and selects what USART module to use,
+ *  and stores the data register empty interrupt level.
+ *
+ *  \param usart_data           The USART_data_t struct instance.
+ *  \param usart                The USART module.
+ *  \param dreIntLevel          Data register empty interrupt level.
+ */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->usart = usart;
+	usart_data->dreIntLevel = dreIntLevel;
+
+	usart_data->buffer.RX_Tail = 0;
+	usart_data->buffer.RX_Head = 0;
+	usart_data->buffer.TX_Tail = 0;
+	usart_data->buffer.TX_Head = 0;
+}
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Set the interrupt level on Data Register interrupt.
+ *
+ *  \note Changing the DRE interrupt level in the interrupt driver while it is
+ *        running will not change the DRE interrupt level in the USART before the
+ *        DRE interrupt have been disabled and enabled again.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *  \param dreIntLevel        Interrupt level of the DRE interrupt.
+ */
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel)
+{
+	usart_data->dreIntLevel = dreIntLevel;
+}
+
+
+/*! \brief Test if there is data in the transmitter software buffer.
+ *
+ *  This function can be used to test if there is free space in the transmitter
+ *  software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = (usart_data->buffer.TX_Head + 1) & USART_TX_BUFFER_MASK;
+	uint8_t tempTail = usart_data->buffer.TX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Stores data byte in TX software buffer and enables DRE interrupt if there
+ *  is free space in the TX software buffer.
+ *
+ *  \param usart_data The USART_data_t struct instance.
+ *  \param data       The data to send.
+ */
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data)
+{
+	uint8_t tempCTRLA;
+	uint8_t tempTX_Head;
+	bool TXBuffer_FreeSpace;
+	USART_Buffer_t * TXbufPtr;
+
+	TXbufPtr = &usart_data->buffer;
+	TXBuffer_FreeSpace = USART_TXBuffer_FreeSpace(usart_data);
+
+
+	if(TXBuffer_FreeSpace)
+	{
+	  	tempTX_Head = TXbufPtr->TX_Head;
+	  	TXbufPtr->TX[tempTX_Head]= data;
+		/* Advance buffer head. */
+		TXbufPtr->TX_Head = (tempTX_Head + 1) & USART_TX_BUFFER_MASK;
+
+		/* Enable DRE interrupt. */
+		tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | usart_data->dreIntLevel;
+		usart_data->usart->CTRLA = tempCTRLA;
+	}
+	return TXBuffer_FreeSpace;
+}
+
+
+
+/*! \brief Test if there is data in the receive software buffer.
+ *
+ *  This function can be used to test if there is data in the receive software
+ *  buffer.
+ *
+ *  \param usart_data         The USART_data_t struct instance
+ *
+ *  \retval true      There is data in the receive buffer.
+ *  \retval false     The receive buffer is empty.
+ */
+bool USART_RXBufferData_Available(USART_data_t * usart_data)
+{
+	/* Make copies to make sure that volatile access is specified. */
+	uint8_t tempHead = usart_data->buffer.RX_Head;
+	uint8_t tempTail = usart_data->buffer.RX_Tail;
+
+	/* There are data left in the buffer unless Head and Tail are equal. */
+	return (tempHead != tempTail);
+}
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  The function USART_RXBufferData_Available should be used before this
+ *  function is used to ensure that data is available.
+ *
+ *  Returns data from RX software buffer.
+ *
+ *  \param usart_data       The USART_data_t struct instance.
+ *
+ *  \return         Received data.
+ */
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	uint8_t ans;
+
+	bufPtr = &usart_data->buffer;
+	ans = (bufPtr->RX[bufPtr->RX_Tail]);
+
+	/* Advance buffer tail. */
+	bufPtr->RX_Tail = (bufPtr->RX_Tail + 1) & USART_RX_BUFFER_MASK;
+
+	return ans;
+}
+
+
+
+/*! \brief RX Complete Interrupt Service Routine.
+ *
+ *  RX Complete Interrupt Service Routine.
+ *  Stores received data in RX software buffer.
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+bool USART_RXComplete(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bool ans;
+
+	bufPtr = &usart_data->buffer;
+	/* Advance buffer head. */
+	uint8_t tempRX_Head = (bufPtr->RX_Head + 1) & USART_RX_BUFFER_MASK;
+
+	/* Check for overflow. */
+	uint8_t tempRX_Tail = bufPtr->RX_Tail;
+	uint8_t data = usart_data->usart->DATA;
+
+	if (tempRX_Head == tempRX_Tail) {
+	  	ans = false;
+	}else{
+		ans = true;
+		usart_data->buffer.RX[usart_data->buffer.RX_Head] = data;
+		usart_data->buffer.RX_Head = tempRX_Head;
+	}
+	return ans;
+}
+
+
+
+/*! \brief Data Register Empty Interrupt Service Routine.
+ *
+ *  Data Register Empty Interrupt Service Routine.
+ *  Transmits one byte from TX software buffer. Disables DRE interrupt if buffer
+ *  is empty. Argument is pointer to USART (USART_data_t).
+ *
+ *  \param usart_data      The USART_data_t struct instance.
+ */
+void USART_DataRegEmpty(USART_data_t * usart_data)
+{
+	USART_Buffer_t * bufPtr;
+	bufPtr = &usart_data->buffer;
+
+	/* Check if all data is transmitted. */
+	uint8_t tempTX_Tail = usart_data->buffer.TX_Tail;
+	if (bufPtr->TX_Head == tempTX_Tail){
+	    /* Disable DRE interrupts. */
+		uint8_t tempCTRLA = usart_data->usart->CTRLA;
+		tempCTRLA = (tempCTRLA & ~USART_DREINTLVL_gm) | USART_DREINTLVL_OFF_gc;
+		usart_data->usart->CTRLA = tempCTRLA;
+
+	}else{
+		/* Start transmitting. */
+		uint8_t data = bufPtr->TX[usart_data->buffer.TX_Tail];
+		usart_data->usart->DATA = data;
+
+		/* Advance buffer tail. */
+		bufPtr->TX_Tail = (bufPtr->TX_Tail + 1) & USART_TX_BUFFER_MASK;
+	}
+}
+
+
+/*! \brief Put data (9 bit character).
+ *
+ *  Use the function USART_IsTXDataRegisterEmpty before using this function to
+ *  put 9 bit character to the TX register.
+ *
+ *  \param usart      The USART module.
+ *  \param data       The data to send.
+ */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data)
+{
+	if(data & 0x0100) {
+		usart->CTRLB |= USART_TXB8_bm;
+	}else {
+		usart->CTRLB &= ~USART_TXB8_bm;
+	}
+
+	usart->DATA = (data & 0x00FF);
+}
+
+
+/*! \brief Get received data (9 bit character).
+ *
+ *  This function reads out the received 9 bit character (uint16_t).
+ *  Use the function USART_IsRXComplete to check if anything is received.
+ *
+ *  \param usart      The USART module.
+ *
+ *  \retval           Received data.
+ */
+uint16_t USART_NineBits_GetChar(USART_t * usart)
+{
+	if(usart->CTRLB & USART_RXB8_bm) {
+		return(0x0100 | usart->DATA);
+	}else {
+		return(usart->DATA);
+	}
+}

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/DriveControl/usart_driver.h

@@ -0,0 +1,306 @@
+/* This file has been prepared for Doxygen automatic documentation generation.*/
+/*! \file *********************************************************************
+ *
+ * \brief  XMEGA USART driver header file.
+ *
+ *      This file contains the function prototypes and enumerator definitions
+ *      for various configuration parameters for the XMEGA USART driver.
+ *
+ *      The driver is not intended for size and/or speed critical code, since
+ *      most functions are just a few lines of code, and the function call
+ *      overhead would decrease code performance. The driver is intended for
+ *      rapid prototyping and documentation purposes for getting started with
+ *      the XMEGA ADC module.
+ *
+ *      For size and/or speed critical code, it is recommended to copy the
+ *      function contents directly into your application instead of making
+ *      a function call.
+ *
+ * \par Application note:
+ *      AVR1307: Using the XMEGA USART
+ *
+ * \par Documentation
+ *      For comprehensive code documentation, supported compilers, compiler
+ *      settings and supported devices see readme.html
+ *
+ * \author
+ *      Atmel Corporation: http://www.atmel.com \n
+ *      Support email: avr@atmel.com
+ *
+ * $Revision: 1694 $
+ * $Date: 2008-07-29 14:21:58 +0200 (ti, 29 jul 2008) $  \n
+ *
+ * Copyright (c) 2008, Atmel Corporation All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * 3. The name of ATMEL may not be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
+ * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+#ifndef USART_DRIVER_H
+#define USART_DRIVER_H
+
+#include "avr_compiler.h"
+
+/* USART buffer defines. */
+
+/* \brief  Receive buffer size: 2,4,8,16,32,64,128 or 256 bytes. */
+#define USART_RX_BUFFER_SIZE 4
+/* \brief Transmit buffer size: 2,4,8,16,32,64,128 or 256 bytes */
+#define USART_TX_BUFFER_SIZE 4
+/* \brief Receive buffer mask. */
+#define USART_RX_BUFFER_MASK ( USART_RX_BUFFER_SIZE - 1 )
+/* \brief Transmit buffer mask. */
+#define USART_TX_BUFFER_MASK ( USART_TX_BUFFER_SIZE - 1 )
+
+
+#if ( USART_RX_BUFFER_SIZE & USART_RX_BUFFER_MASK )
+#error RX buffer size is not a power of 2
+#endif
+#if ( USART_TX_BUFFER_SIZE & USART_TX_BUFFER_MASK )
+#error TX buffer size is not a power of 2
+#endif
+
+
+/* \brief USART transmit and receive ring buffer. */
+typedef struct USART_Buffer
+{
+	/* \brief Receive buffer. */
+	volatile uint8_t RX[USART_RX_BUFFER_SIZE];
+	/* \brief Transmit buffer. */
+	volatile uint8_t TX[USART_TX_BUFFER_SIZE];
+	/* \brief Receive buffer head. */
+	volatile uint8_t RX_Head;
+	/* \brief Receive buffer tail. */
+	volatile uint8_t RX_Tail;
+	/* \brief Transmit buffer head. */
+	volatile uint8_t TX_Head;
+	/* \brief Transmit buffer tail. */
+	volatile uint8_t TX_Tail;
+} USART_Buffer_t;
+
+
+/*! \brief Struct used when interrupt driven driver is used.
+*
+*  Struct containing pointer to a usart, a buffer and a location to store Data
+*  register interrupt level temporary.
+*/
+typedef struct Usart_and_buffer
+{
+	/* \brief Pointer to USART module to use. */
+	USART_t * usart;
+	/* \brief Data register empty interrupt level. */
+	USART_DREINTLVL_t dreIntLevel;
+	/* \brief Data buffer. */
+	USART_Buffer_t buffer;
+} USART_data_t;
+
+
+/* Macros. */
+
+/*! \brief Macro that sets the USART frame format.
+ *
+ *  Sets the frame format, Frame Size, parity mode and number of stop bits.
+ *
+ *  \param _usart        Pointer to the USART module
+ *  \param _charSize     The character size. Use USART_CHSIZE_t type.
+ *  \param _parityMode   The parity Mode. Use USART_PMODE_t type.
+ *  \param _twoStopBits  Enable two stop bit mode. Use bool type.
+ */
+#define USART_Format_Set(_usart, _charSize, _parityMode, _twoStopBits)         \
+	(_usart)->CTRLC = (uint8_t) _charSize | _parityMode |                      \
+	                  (_twoStopBits ? USART_SBMODE_bm : 0)
+
+
+/*! \brief Set USART baud rate.
+ *
+ *  Sets the USART's baud rate register.
+ *
+ *  UBRR_Value   : Value written to UBRR
+ *  ScaleFactor  : Time Base Generator Scale Factor
+ *
+ *  Equation for calculation of BSEL value in asynchronous normal speed mode:
+ *  	If ScaleFactor >= 0
+ *  		BSEL = ((I/O clock frequency)/(2^(ScaleFactor)*16*Baudrate))-1
+ *  	If ScaleFactor < 0
+ *  		BSEL = (1/(2^(ScaleFactor)*16))*(((I/O clock frequency)/Baudrate)-1)
+ *
+ *	\note See XMEGA manual for equations for calculation of BSEL value in other
+ *        modes.
+ *
+ *  \param _usart          Pointer to the USART module.
+ *  \param _bselValue      Value to write to BSEL part of Baud control register.
+ *                         Use uint16_t type.
+ *  \param _bScaleFactor   USART baud rate scale factor.
+ *                         Use uint8_t type
+ */
+#define USART_Baudrate_Set(_usart, _bselValue, _bScaleFactor)                  \
+	(_usart)->BAUDCTRLA =(uint8_t)_bselValue;                                           \
+	(_usart)->BAUDCTRLB =(_bScaleFactor << USART_BSCALE0_bp)|(_bselValue >> 8)
+
+
+/*! \brief Enable USART receiver.
+ *
+ *  \param _usart    Pointer to the USART module
+ */
+#define USART_Rx_Enable(_usart) ((_usart)->CTRLB |= USART_RXEN_bm)
+
+
+/*! \brief Disable USART receiver.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Rx_Disable(_usart) ((_usart)->CTRLB &= ~USART_RXEN_bm)
+
+
+/*! \brief Enable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Enable(_usart)	((_usart)->CTRLB |= USART_TXEN_bm)
+
+
+/*! \brief Disable USART transmitter.
+ *
+ *  \param _usart Pointer to the USART module.
+ */
+#define USART_Tx_Disable(_usart) ((_usart)->CTRLB &= ~USART_TXEN_bm)
+
+
+/*! \brief Set USART RXD interrupt level.
+ *
+ *  Sets the interrupt level on RX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _rxdIntLevel  Interrupt level of the RXD interrupt.
+ *                       Use USART_RXCINTLVL_t type.
+ */
+#define USART_RxdInterruptLevel_Set(_usart, _rxdIntLevel)                      \
+	((_usart)->CTRLA = ((_usart)->CTRLA & ~USART_RXCINTLVL_gm) | _rxdIntLevel)
+
+
+/*! \brief Set USART TXD interrupt level.
+ *
+ *  Sets the interrupt level on TX Complete interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _txdIntLevel  Interrupt level of the TXD interrupt.
+ *                       Use USART_TXCINTLVL_t type.
+ */
+#define USART_TxdInterruptLevel_Set(_usart, _txdIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_TXCINTLVL_gm) | _txdIntLevel
+
+
+
+/*! \brief Set USART DRE interrupt level.
+ *
+ *  Sets the interrupt level on Data Register interrupt.
+ *
+ *  \param _usart        Pointer to the USART module.
+ *  \param _dreIntLevel  Interrupt level of the DRE interrupt.
+ *                       Use USART_DREINTLVL_t type.
+ */
+#define USART_DreInterruptLevel_Set(_usart, _dreIntLevel)                      \
+	(_usart)->CTRLA = ((_usart)->CTRLA & ~USART_DREINTLVL_gm) | _dreIntLevel
+
+
+/*! \brief Set the mode the USART run in.
+ *
+ * Set the mode the USART run in. The default mode is asynchronous mode.
+ *
+ *  \param  _usart       Pointer to the USART module register section.
+ *  \param  _usartMode   Selects the USART mode. Use  USART_CMODE_t type.
+ *
+ *  USART modes:
+ *  - 0x0        : Asynchronous mode.
+ *  - 0x1        : Synchronous mode.
+ *  - 0x2        : IrDA mode.
+ *  - 0x3        : Master SPI mode.
+ */
+#define USART_SetMode(_usart, _usartMode)                                      \
+	((_usart)->CTRLC = ((_usart)->CTRLC & (~USART_CMODE_gm)) | _usartMode)
+
+
+
+/*! \brief Check if data register empty flag is set.
+ *
+ *  \param _usart      The USART module.
+ */
+#define USART_IsTXDataRegisterEmpty(_usart) (((_usart)->STATUS & USART_DREIF_bm) != 0)
+
+
+
+/*! \brief Put data (5-8 bit character).
+ *
+ *  Use the macro USART_IsTXDataRegisterEmpty before using this function to
+ *  put data to the TX register.
+ *
+ *  \param _usart      The USART module.
+ *  \param _data       The data to send.
+ */
+#define USART_PutChar(_usart, _data) ((_usart)->DATA = _data)
+
+
+
+/*! \brief Checks if the RX complete interrupt flag is set.
+ *
+ *   Checks if the RX complete interrupt flag is set.
+ *
+ *  \param _usart     The USART module.
+ */
+#define USART_IsRXComplete(_usart) (((_usart)->STATUS & USART_RXCIF_bm) != 0)
+
+
+
+
+/*! \brief Get received data (5-8 bit character).
+ *
+ *  This macro reads out the RX register.
+ *  Use the macro USART_RX_Complete to check if anything is received.
+ *
+ *  \param _usart     The USART module.
+ *
+ *  \retval           Received data.
+ */
+#define USART_GetChar(_usart)  ((_usart)->DATA)
+
+
+/* Functions for interrupt driven driver. */
+void USART_InterruptDriver_Initialize(USART_data_t * usart_data,
+                                      USART_t * usart,
+                                      USART_DREINTLVL_t dreIntLevel );
+
+void USART_InterruptDriver_DreInterruptLevel_Set(USART_data_t * usart_data,
+                                                 USART_DREINTLVL_t dreIntLevel);
+
+bool USART_TXBuffer_FreeSpace(USART_data_t * usart_data);
+bool USART_TXBuffer_PutByte(USART_data_t * usart_data, uint8_t data);
+bool USART_RXBufferData_Available(USART_data_t * usart_data);
+uint8_t USART_RXBuffer_GetByte(USART_data_t * usart_data);
+bool USART_RXComplete(USART_data_t * usart_data);
+void USART_DataRegEmpty(USART_data_t * usart_data);
+
+/* Functions for polled driver. */
+void USART_NineBits_PutChar(USART_t * usart, uint16_t data);
+uint16_t USART_NineBits_GetChar(USART_t * usart);
+
+#endif

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveControl/README

@@ -0,0 +1,3 @@
+Firmware for all final boards should go here.
+
+All firmware developed using Atmel Studio 6.2.

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/DriveFeedback.d

@@ -0,0 +1,52 @@
+DriveFeedback.d DriveFeedback.o: .././DriveFeedback.cpp \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iom328p.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h \
+ c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\io.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\sfr_defs.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\inttypes.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdint.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\iom328p.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\portpins.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\common.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\version.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\fuse.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\avr\lock.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\util\delay_basic.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\math.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\avr\include\stdio.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stdarg.h:
+
+c:\program\ files\ (x86)\atmel\atmel\ toolchain\avr8\ gcc\native\3.4.1051\avr8-gnu-toolchain\lib\gcc\avr\4.8.1\include\stddef.h:

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/DriveFeedback.eep

@@ -0,0 +1 @@
+:00000001FF

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/DriveFeedback.hex

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OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/DriveFeedback.map

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+ .debug_info    0x00000000      0x52b DriveFeedback.o
+
+.debug_abbrev   0x00000000      0x22e
+ *(.debug_abbrev)
+ .debug_abbrev  0x00000000      0x22e DriveFeedback.o
+
+.debug_line     0x00000000      0x25d
+ *(.debug_line .debug_line.* .debug_line_end)
+ .debug_line    0x00000000      0x25d DriveFeedback.o
+
+.debug_frame    0x00000000       0x98
+ *(.debug_frame)
+ .debug_frame   0x00000000       0x98 DriveFeedback.o
+
+.debug_str      0x00000000      0x2be
+ *(.debug_str)
+ .debug_str     0x00000000      0x2be DriveFeedback.o
+                                0x2f7 (size before relaxing)
+
+.debug_loc      0x00000000      0x23c
+ *(.debug_loc)
+ .debug_loc     0x00000000      0x23c DriveFeedback.o
+
+.debug_macinfo
+ *(.debug_macinfo)
+
+.debug_weaknames
+ *(.debug_weaknames)
+
+.debug_funcnames
+ *(.debug_funcnames)
+
+.debug_typenames
+ *(.debug_typenames)
+
+.debug_varnames
+ *(.debug_varnames)
+
+.debug_pubtypes
+ *(.debug_pubtypes)
+
+.debug_ranges   0x00000000       0x38
+ *(.debug_ranges)
+ .debug_ranges  0x00000000       0x38 DriveFeedback.o
+
+.debug_macro
+ *(.debug_macro)
+OUTPUT(DriveFeedback.elf elf32-avr)
+LOAD linker stubs

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/DriveFeedback.srec

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OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/Makefile

@@ -0,0 +1,125 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL := cmd.exe
+RM := rm -rf
+
+USER_OBJS :=
+
+LIBS := 
+PROJ := 
+
+O_SRCS := 
+C_SRCS := 
+S_SRCS := 
+S_UPPER_SRCS := 
+OBJ_SRCS := 
+ASM_SRCS := 
+PREPROCESSING_SRCS := 
+OBJS := 
+OBJS_AS_ARGS := 
+C_DEPS := 
+C_DEPS_AS_ARGS := 
+EXECUTABLES := 
+OUTPUT_FILE_PATH :=
+OUTPUT_FILE_PATH_AS_ARGS :=
+AVR_APP_PATH :=$$$AVR_APP_PATH$$$
+QUOTE := "
+ADDITIONAL_DEPENDENCIES:=
+OUTPUT_FILE_DEP:=
+LIB_DEP:=
+
+# Every subdirectory with source files must be described here
+SUBDIRS := 
+
+
+# Add inputs and outputs from these tool invocations to the build variables 
+C_SRCS +=  \
+../DriveFeedback.cpp
+
+
+PREPROCESSING_SRCS += 
+
+
+ASM_SRCS += 
+
+
+OBJS +=  \
+DriveFeedback.o
+
+OBJS_AS_ARGS +=  \
+DriveFeedback.o
+
+C_DEPS +=  \
+DriveFeedback.d
+
+C_DEPS_AS_ARGS +=  \
+DriveFeedback.d
+
+OUTPUT_FILE_PATH +=DriveFeedback.elf
+
+OUTPUT_FILE_PATH_AS_ARGS +=DriveFeedback.elf
+
+ADDITIONAL_DEPENDENCIES:=
+
+OUTPUT_FILE_DEP:= ./makedep.mk
+
+LIB_DEP+= 
+
+# AVR32/GNU C Compiler
+
+
+
+./%.o: .././%.cpp
+	@echo Building file: $<
+	@echo Invoking: AVR8/GNU C Compiler : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -funsigned-char -funsigned-bitfields -DDEBUG  -O1 -ffunction-sections -fdata-sections -fpack-struct -fshort-enums -g2 -Wall -mmcu=atmega328p -c -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+	
+
+
+
+# AVR32/GNU Preprocessing Assembler
+
+
+
+# AVR32/GNU Assembler
+
+
+
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+endif
+
+# Add inputs and outputs from these tool invocations to the build variables 
+
+# All Target
+all: $(OUTPUT_FILE_PATH) $(ADDITIONAL_DEPENDENCIES)
+
+$(OUTPUT_FILE_PATH): $(OBJS) $(USER_OBJS) $(OUTPUT_FILE_DEP) $(LIB_DEP)
+	@echo Building target: $@
+	@echo Invoking: AVR8/GNU Linker : 4.8.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-g++.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -Wl,-Map="DriveFeedback.map" -Wl,--start-group -Wl,-lm  -Wl,--end-group -Wl,--gc-sections -mmcu=atmega328p  
+	@echo Finished building target: $@
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature -R .user_signatures  "DriveFeedback.elf" "DriveFeedback.hex"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -j .eeprom  --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0  --no-change-warnings -O ihex "DriveFeedback.elf" "DriveFeedback.eep" || exit 0
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objdump.exe" -h -S "DriveFeedback.elf" > "DriveFeedback.lss"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-objcopy.exe" -O srec -R .eeprom -R .fuse -R .lock -R .signature -R .user_signatures "DriveFeedback.elf" "DriveFeedback.srec"
+	"C:\Program Files (x86)\Atmel\Atmel Toolchain\AVR8 GCC\Native\3.4.1051\avr8-gnu-toolchain\bin\avr-size.exe" "DriveFeedback.elf"
+	
+	
+
+
+
+
+
+# Other Targets
+clean:
+	-$(RM) $(OBJS_AS_ARGS) $(EXECUTABLES)  
+	-$(RM) $(C_DEPS_AS_ARGS)   
+	rm -rf "DriveFeedback.elf" "DriveFeedback.a" "DriveFeedback.hex" "DriveFeedback.lss" "DriveFeedback.eep" "DriveFeedback.map" "DriveFeedback.srec" "DriveFeedback.usersignatures"
+	

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/Debug/makedep.mk

@@ -0,0 +1,6 @@
+################################################################################
+# Automatically-generated file. Do not edit or delete the file
+################################################################################
+
+DriveFeedback.cpp
+

OSU Robotics Club/OSU Mars Rover/Control Board Firmware/FinalBoardFirmware/DriveFeedback/DriveFeedback(BoardDead)/DriveFeedback.atsln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "DriveFeedback", "DriveFeedback.cppproj", "{355496BA-23D8-49EF-A3EE-BE449ED245C6}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|AVR = Debug|AVR
+		Release|AVR = Release|AVR
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{355496BA-23D8-49EF-A3EE-BE449ED245C6}.Debug|AVR.ActiveCfg = Debug|AVR
+		{355496BA-23D8-49EF-A3EE-BE449ED245C6}.Debug|AVR.Build.0 = Debug|AVR
+		{355496BA-23D8-49EF-A3EE-BE449ED245C6}.Release|AVR.ActiveCfg = Release|AVR
+		{355496BA-23D8-49EF-A3EE-BE449ED245C6}.Release|AVR.Build.0 = Release|AVR
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal