Added missing classes from final year at OSU

OSU Coursework/ECE 375 - Computer Organization and Assembly Language/Lab 2/mylabcode/Corwin_Perren_Lab2_sourcecode.c

@@ -0,0 +1,136 @@
+#define F_CPU 16000000
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdio.h>
+
+// Generic register bitwise operators
+#define REG_SET(reg, pin) (reg |= _BV(pin))
+#define REG_CLR(reg, pin) (reg &= ~(_BV(pin)))
+#define REG_WRITE(reg, pin, value) ((value == 1) ? REG_SET(reg, pin) : REG_CLR(reg, pin))
+#define REG_CHECK(reg, pin) ((reg &= (_BV(pin))) > 0)
+
+// Right motor enable
+#define RME_DDR DDRB
+#define RME_OUT PORTB
+#define RME_IN PINB
+#define RME_PIN 4
+#define RME_IO_OUT() (REG_SET(RME_DDR, RME_PIN))
+#define RME_IO_IN() (REG_CLR(RME_DDR, RME_PIN))
+#define RME_SET() (REG_SET(RME_OUT, RME_PIN))
+#define RME_CLR() (REG_CLR(RME_OUT, RME_PIN))
+#define RME_WRITE(value) (REG_WRITE(RME_OUT, RME_PIN, value))
+#define RME_STATE() (REG_CHECK(RME_IN, RME_PIN))
+
+// Right motor drive
+#define RMD_DDR DDRB
+#define RMD_OUT PORTB
+#define RMD_IN PINB
+#define RMD_PIN 5
+#define RMD_IO_OUT() (REG_SET(RMD_DDR, RMD_PIN))
+#define RMD_IO_IN() (REG_CLR(RMD_DDR, RMD_PIN))
+#define RMD_SET() (REG_SET(RMD_OUT, RMD_PIN))
+#define RMD_CLR() (REG_CLR(RMD_OUT, RMD_PIN))
+#define RMD_WRITE(value) (REG_WRITE(RMD_OUT, RMD_PIN, value))
+#define RMD_STATE() (REG_CHECK(RMD_IN, RMD_PIN))
+
+// Left motor enable
+#define LME_DDR DDRB
+#define LME_OUT PORTB
+#define LME_IN PINB
+#define LME_PIN 7
+#define LME_IO_OUT() (REG_SET(LME_DDR, LME_PIN))
+#define LME_IO_IN() (REG_CLR(LME_DDR, LME_PIN))
+#define LME_SET() (REG_SET(LME_OUT, LME_PIN))
+#define LME_CLR() (REG_CLR(LME_OUT, LME_PIN))
+#define LME_WRITE(value) (REG_WRITE(LME_OUT, LME_PIN, value))
+#define LME_STATE() (REG_CHECK(LME_IN, LME_PIN))
+
+// Left motor drive
+#define LMD_DDR DDRB
+#define LMD_OUT PORTB
+#define LMD_IN PINB
+#define LMD_PIN 6
+#define LMD_IO_OUT() (REG_SET(LMD_DDR, LMD_PIN))
+#define LMD_IO_IN() (REG_CLR(LMD_DDR, LMD_PIN))
+#define LMD_SET() (REG_SET(LMD_OUT, LMD_PIN))
+#define LMD_CLR() (REG_CLR(LMD_OUT, LMD_PIN))
+#define LMD_WRITE(value) (REG_WRITE(LMD_OUT, LMD_PIN, value))
+#define LMD_STATE() (REG_CHECK(LMD_IN, LMD_PIN))
+
+// Left whisker
+#define LW_DDR DDRD
+#define LW_OUT PORTD
+#define LW_IN PIND
+#define LW_PIN 1
+#define LW_IO_OUT() (REG_SET(LW_DDR, LW_PIN))
+#define LW_IO_IN() (REG_CLR(LW_DDR, LW_PIN))
+#define LW_SET() (REG_SET(LW_OUT, LW_PIN))
+#define LW_CLR() (REG_CLR(LW_OUT, LW_PIN))
+#define LW_WRITE(value) (REG_WRITE(LW_OUT, LW_PIN, value))
+#define LW_STATE() (REG_CHECK(LW_IN, LW_PIN))
+
+// Right whisker
+#define RW_DDR DDRD
+#define RW_OUT PORTD
+#define RW_IN PIND
+#define RW_PIN 0
+#define RW_IO_OUT() (REG_SET(RW_DDR, RW_PIN))
+#define RW_IO_IN() (REG_CLR(RW_DDR, RW_PIN))
+#define RW_SET() (REG_SET(RW_OUT, RW_PIN))
+#define RW_CLR() (REG_CLR(RW_OUT, RW_PIN))
+#define RW_WRITE(value) (REG_WRITE(RW_OUT, RW_PIN, value))
+#define RW_STATE() (REG_CHECK(RW_IN, RW_PIN))
+
+const unsigned int backup_time = 1000;  //ms
+const unsigned int debounce_time = 200; //ms
+
+int main(void){
+    // Set motor enable and direction to outputs
+    RME_IO_OUT();
+    RMD_IO_OUT();
+    LME_IO_OUT();
+    LMD_IO_OUT();
+
+    // Set whiskers to inputs and enable pullup resistors
+    LW_IO_IN();
+    LW_SET();
+
+    RW_IO_IN();
+    RW_SET();
+
+    // Enables motors and sets bot to move forward
+    RMD_SET();
+    LMD_SET();
+    RME_CLR();  // Setting to zero enables motors
+    LME_CLR();  // Setting to zero enables motors
+
+
+    // Main program loop
+    while (1){
+        // Get states of whiskers
+        unsigned char lw_pressed = !LW_STATE();
+        unsigned char rw_pressed = !RW_STATE();
+
+        // Handle noise from button press
+        _delay_ms(debounce_time);
+
+        // Logic if the right whisker is pressed
+        if(rw_pressed){
+            RMD_CLR();
+            LMD_CLR();
+            _delay_ms(backup_time);
+            RMD_SET();
+            _delay_ms(backup_time);
+            LMD_SET();
+
+        // Logic if the right whisker is pressed
+        }else if(lw_pressed){
+            RMD_CLR();
+            LMD_CLR();
+            _delay_ms(backup_time);
+            LMD_SET();
+            _delay_ms(backup_time);
+            RMD_SET();
+        }
+    }
+}

OSU Coursework/ECE 375 - Computer Organization and Assembly Language/Lab 2/mylabcode/main.hex

@@ -0,0 +1,24 @@
+:100000000C9446000C945D000C945D000C945D0013
+:100010000C945D000C945D000C945D000C945D00EC
+:100020000C945D000C945D000C945D000C945D00DC
+:100030000C945D000C945D000C945D000C945D00CC
+:100040000C945D000C945D000C945D000C945D00BC
+:100050000C945D000C945D000C945D000C945D00AC
+:100060000C945D000C945D000C945D000C945D009C
+:100070000C945D000C945D000C945D000C945D008C
+:100080000C945D000C945D000C945D0011241FBE67
+:10009000CFEFD0E1DEBFCDBF11E0A0E0B1E0ECE5F5
+:1000A000F1E000E00BBF02C007900D92A430B10751
+:1000B000D9F70E945F000C94AC000C940000BC9A2D
+:1000C000BD9ABF9ABE9A8998919A8898909AC59A33
+:1000D000C69AC498C79880B3827080BB90B3917061
+:1000E00090BB2FEF33EC49E0215030404040E1F726
+:1000F00000C00000911117C0C598C6988FEF93ED0E
+:1001000020E3815090402040E1F700C00000C59AF4
+:100110003FEF43ED80E3315040408040E1F700C0C5
+:100120000000C69AD8CF8111D6CFC598C6989FEF48
+:1001300023ED30E3915020403040E1F700C0000053
+:10014000C69A4FEF83ED90E3415080409040E1F735
+:0C01500000C00000C59ABFCFF894FFCF9C
+:04015C00C800E803EC
+:00000001FF

OSU Coursework/ECE 375 - Computer Organization and Assembly Language/Lab 2/mylabcode/makefile

@@ -0,0 +1,16 @@
+MCU=atmega128
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+CFLAGS=-std=c99 -Wall -g -Os -mmcu=${MCU} -DF_CPU=${F_CPU} -I.
+TARGET=main
+SRCS=Corwin_Perren_Lab2_sourcecode.c
+
+all:
+	${CC} ${CFLAGS} -o ${TARGET}.bin ${SRCS}
+	${OBJCOPY} -j .text -j .data -O ihex ${TARGET}.bin ${TARGET}.hex
+
+flash:
+	avrdude -p ${MCU} -c usbasp -U flash:w:${TARGET}.hex:i -F -P usb
+
+clean:
+	rm -f *.bin *.hex