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+# Created by https://www.toptal.com/developers/gitignore/api/macos,latex
+# Edit at https://www.toptal.com/developers/gitignore?templates=macos,latex
+
+### LaTeX ###
+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+.*.lb
+
+## Intermediate documents:
+*.dvi
+*.xdv
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+# *.ps
+# *.eps
+# *.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+# .pdf # Uncomment this line if laTeX is used.
+
+## Bibliography auxiliary files (bibtex/biblatex/biber):
+*.bbl
+*.bcf
+*.blg
+*-blx.aux
+*-blx.bib
+*.run.xml
+
+## Build tool auxiliary files:
+*.fdb_latexmk
+*.synctex
+*.synctex(busy)
+*.synctex.gz
+*.synctex.gz(busy)
+*.pdfsync
+
+## Build tool directories for auxiliary files
+# latexrun
+latex.out/
+
+## Auxiliary and intermediate files from other packages:
+# algorithms
+*.alg
+*.loa
+
+# achemso
+acs-*.bib
+
+# amsthm
+*.thm
+
+# beamer
+*.nav
+*.pre
+*.snm
+*.vrb
+
+# changes
+*.soc
+
+# comment
+*.cut
+
+# cprotect
+*.cpt
+
+# elsarticle (documentclass of Elsevier journals)
+*.spl
+
+# endnotes
+*.ent
+
+# fixme
+*.lox
+
+# feynmf/feynmp
+*.mf
+*.mp
+*.t[1-9]
+*.t[1-9][0-9]
+*.tfm
+
+#(r)(e)ledmac/(r)(e)ledpar
+*.end
+*.?end
+*.[1-9]
+*.[1-9][0-9]
+*.[1-9][0-9][0-9]
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+*.eledsec[1-9][0-9]R
+*.eledsec[1-9][0-9][0-9]
+*.eledsec[1-9][0-9][0-9]R
+
+# glossaries
+*.acn
+*.acr
+*.glg
+*.glo
+*.gls
+*.glsdefs
+*.lzo
+*.lzs
+*.slg
+*.slo
+*.sls
+
+# uncomment this for glossaries-extra (will ignore makeindex's style files!)
+# *.ist
+
+# gnuplot
+*.gnuplot
+*.table
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.glog
+*.gtex
+
+# htlatex
+*.4ct
+*.4tc
+*.idv
+*.lg
+*.trc
+*.xref
+
+# hyperref
+*.brf
+
+# knitr
+*-concordance.tex
+# TODO Uncomment the next line if you use knitr and want to ignore its generated tikz files
+# *.tikz
+*-tikzDictionary
+
+# listings
+*.lol
+
+# luatexja-ruby
+*.ltjruby
+
+# makeidx
+*.idx
+*.ilg
+*.ind
+
+# minitoc
+*.maf
+*.mlf
+*.mlt
+*.mtc[0-9]*
+*.slf[0-9]*
+*.slt[0-9]*
+*.stc[0-9]*
+
+# minted
+_minted*
+*.pyg
+
+# morewrites
+*.mw
+
+# newpax
+*.newpax
+
+# nomencl
+*.nlg
+*.nlo
+*.nls
+
+# pax
+*.pax
+
+# pdfpcnotes
+*.pdfpc
+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
+
+# scrwfile
+*.wrt
+
+# svg
+svg-inkscape/
+
+# sympy
+*.sout
+*.sympy
+sympy-plots-for-*.tex/
+
+# pdfcomment
+*.upa
+*.upb
+
+# pythontex
+*.pytxcode
+pythontex-files-*/
+
+# tcolorbox
+*.listing
+
+# thmtools
+*.loe
+
+# TikZ & PGF
+*.dpth
+*.md5
+*.auxlock
+
+# titletoc
+*.ptc
+
+# todonotes
+*.tdo
+
+# vhistory
+*.hst
+*.ver
+
+# easy-todo
+*.lod
+
+# xcolor
+*.xcp
+
+# xmpincl
+*.xmpi
+
+# xindy
+*.xdy
+
+# xypic precompiled matrices and outlines
+*.xyc
+*.xyd
+
+# endfloat
+*.ttt
+*.fff
+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
+# WinEdt
+*.bak
+*.sav
+
+# Texpad
+.texpadtmp
+
+# LyX
+*.lyx~
+
+# Kile
+*.backup
+
+# gummi
+.*.swp
+
+# KBibTeX
+*~[0-9]*
+
+# TeXnicCenter
+*.tps
+
+# auto folder when using emacs and auctex
+./auto/*
+*.el
+
+# expex forward references with \gathertags
+*-tags.tex
+
+# standalone packages
+*.sta
+
+# Makeindex log files
+*.lpz
+
+# xwatermark package
+*.xwm
+
+# REVTeX puts footnotes in the bibliography by default, unless the nofootinbib
+# option is specified. Footnotes are the stored in a file with suffix Notes.bib.
+# Uncomment the next line to have this generated file ignored.
+#*Notes.bib
+
+### LaTeX Patch ###
+# LIPIcs / OASIcs
+*.vtc
+
+# glossaries
+*.glstex
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+# End of https://www.toptal.com/developers/gitignore/api/macos,latex
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+Använd respektive underkatalog för inlämning av olika dokument i projektet.
+
+Underkatalogen tidrapport innehåller en fil Tidrapport.md som ska uppdateras med en tidrapport enligt instruktioner i filen.
\ No newline at end of file

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+### Vilken funktionalitet har roboten idag?
+Roboten kan nästan utföra en komplett körning av uppdraget som uppfyller alla krav. Vi har genomfört tester där vi kommit väldigt nära det som i slutändan ska åstadkommas. Roboten kan autonomt utforska och navigera i labyrinten. Vi kan också plocka upp och leverera förnödenheter autonomt, men detta lyckas vi inte alltid med.
+
+Sensormodulen fungerar bra. 
+
+Användargränssnittet och den trådlösa kopplingen fungerar överlag bra. Väggar, undersökta rutor och planerad färdväg visas. 
+
+Roboten kan startas och stoppas med fysiska knappar.
+
+Sensordata visas på LCD-skärm.
+
+
+### Vilken funktionalitet återstår?
+Användargränssnittet kan förbättras en del med tydligare separation av reglerparametrar och sensordata.
+
+Lidarn ger ibland upp. Likaså LCD-skärmen.
+
+Nu sker uppstart av systemet via ssh-inloggning till roboten. Vi vill göra det enklare att få igång systemet vid uppstart. Detta kommer att kräva en del tänkande och testande.
+
+Driftsäkerheten överlag måste förbättras. 
+
+
+### Hur mycket tid har ni kvar av budgeterade timmar?
+467 timmar.
+
+
+
+### Hur många timmar har respektive projektmedlem kvar att leverera (för att nå målet på 230 timmar) och hur ska dessa timmar fördelas över de kvarvarande veckorna? Redovisa i en tabell i statusrapporten hur många timmar detta blir per person och vecka. 
+| Person    | Timmar totalt | Timmar v.18 | Timmar v.19 | Timmar v.20 | Timmar v.21 | Timmar v.22 |
+| :-------: | :-----------: | :---------: | :---------: | :---------: | :---------: | :---------: | 
+| AB        |            71 |          17 |          20 |          20 |           8 |           6 | 
+| AW        |            61 |          17 |          16 |          16 |           6 |           6 | 
+| CC        |            67 |          17 |          20 |          20 |           4 |           6 | 
+| DS        |            82 |          17 |          24 |          24 |           8 |           9 | 
+| HL        |            58 |          17 |          16 |          16 |           4 |           5 | 
+| MF        |            66 |          17 |          20 |          20 |           4 |           5 | 
+| NF        |            62 |          17 |          18 |          18 |           4 |           5 | 
+
+
+
+### Redovisa också vilka aktiviteter som respektive person ska arbeta med.
+
+| Person    | Saker att göra |
+| :-------: | :------------- |
+| AB        | Reglering, Automatisk påslagning, Skriva dokument (fokus på teknisk dokumentation) |
+| AW        | Fixa buggar i användargrännssnittet, Skriva dokument, Planera |
+| CC        | Fixa LCD-buggar, Skriva dokument |
+| DS        | Reglering, Skriva dokument (fokus på användarhandledning) |
+| HL        | Automatisk påslagning, Förbättra körplaneringen, Fixa Lidarbuggar, Skriva dokument (fokus på teknisk dokumentation) |
+| MF        | Fixa LCD-buggar, Skriva dokument (fokus på kandidatrapporten) |
+| NF        | Fixa LCD-buggar, Skriva dokument |
+
+### Är arbetsbelastningen jämn i gruppen? 
+Ja. 
+
+
+### Om ej, ange orsak och vilken åtgärd ni vidtar.
+
+
+
+### Beskriv eventuella tekniska problem.
+Lidar och LCD-skärm. Driftosäkerhet överlag.
+
+
+### Beskriv eventuella samarbetsproblem.
+Inga samarbetsproblem.
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diff --git a/hardcopy/docs/tidplan/Tidplan_0_1.xlsx b/hardcopy/docs/tidplan/Tidplan_0_1.xlsx
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diff --git a/hardcopy/docs/tidplan/Tidplan_v1_0.xlsx b/hardcopy/docs/tidplan/Tidplan_v1_0.xlsx
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diff --git a/hardcopy/docs/tidrapport/Tidrapport.md b/hardcopy/docs/tidrapport/Tidrapport.md
new file mode 100644 (file)
index 0000000..39f1964
--- /dev/null
+++ b/hardcopy/docs/tidrapport/Tidrapport.md
@@ -0,0 +1,241 @@
+Denna fil är skriven med [MarkDown](https://www.markdownguide.org/basic-syntax/)
+
+Uppdatera tidrapporten **senast** kl 16 varje måndag, enligt [Leveranser](https://liuonline.sharepoint.com/sites/Lisam_TSEA56_2024VT_G1/SitePages/Leveranser.aspx)  
+Glöm inte att även uppdatera tidplanen.
+
+# Tidrapport Grupp 8
+
+
+
+## T o m Vecka 12 (Grupp XX)(rapporteras måndag v 13)
+1. Vilka framsteg har gjorts sedan förra tidrapporten?
+
+Vi har tjuvstartat lite med mjukvaran. 
+
+2. Finns det några problem?
+
+Nej, inte än...
+
+3. Vad ska göras kommande vecka?
+
+Användargränssnittet ska vara mer eller mindre klart.
+Styrmodulen ska kunna styra och till viss del reglera motorhastighet.
+Kommunikation mellan styrmodul och sensormodul via I2C.
+Sensormodulen ska kunna läsa ut hastighet i m/s från odometrarna. 
+
+
+## Vecka 13 (Grupp XX)(rapporteras tisdag v 14)
+1. Vilka framsteg har gjorts sedan förra tidrapporten?
+
+Hämtat ut komponenter. 
+Styrmodulen kan styra motorer och gripklo utan reglering.
+Sensormodulen kan läsa odometervärden. 
+Alla moduler på roboten kan kommunicera via I2C.
+Användargränssnittet är 88% klart. 
+Lidardrivern fungerar och skickar datan över ROS.
+
+2. Finns det några problem?
+
+Svårt med två masters på en I2C-buss. Lösningen blir att göra en separat uart-buss kanal mellan styr- och sensormodulen för regleringsdata.
+Flyttal är jobbigt på AVR. 
+
+3. Vad ska göras kommande vecka?
+
+
+Kommunikationen mellan alla moduler ska fungera bra. Rätt enhet.
+Manuell styrning ska fungera. 
+Motorerna ska kunna regleras. 
+Roboten ska kunna hitta sin position. 
+Lidardata ska visualiseras i användargränssnittet. 
+Börja jobba med gyrot. 
+
+
+## Vecka 14 (Grupp XX)(rapporteras måndag v 15)
+1. Vilka framsteg har gjorts sedan förra tidrapporten?
+
+Kommunikationen mellan alla moduler fungerar bra. 
+Grundläggande reglering är på plats. 
+Gyrot fungerar!
+Lidardata visualiseras nu i gränssnittet.
+Positionering med lidar fungerar. 
+Smågrejer med knappar osv. 
+
+
+2. Finns det några problem?
+
+Vår Raspberry pi har en tendens att dö vid batteridrift. 
+Debuggern får AVR-programmen att sluta fungera.
+AVR-programmeraren fungerar lite till och från.
+Nivåskiftaren har bara 5 utgångar och vi behöver 6. Vi borde dock kunna kringå den. 
+
+
+3. Vad ska göras kommande vecka?
+
+(1) Gyrodata till styrmodulen via uart. 
+(2) Skärmen ska fungera och integreras i ROS.
+(3) Börja kika på tejpsensorn.
+(1) Hjulens hastighet ska regleras ordentligt. 
+(2) Manuell körning ska fungera. 
+(1) Kartläggning ska fungera i manuell körning.
+(1) Kunna välja målpunkt i användargränssnittet.  
+
+
+
+## Vecka 15 (Grupp XX)(rapporteras måndag v 16)
+1. Vilka framsteg har gjorts sedan förra tidrapporten?
+
+Tejpsensorn fungerar! 
+Manuell styrning fungerar klockrent!
+Även semiautonomt funkar bra (klicka på kartan och den åker dit). 
+Kartläggningen har testats och fungerar bra. 
+Reglering av hastighet fungerar bra. 
+Displayen fungerar. 
+Fysiska knappar borde fungera men borde fungera. 
+
+
+2. Finns det några problem?
+
+Odometerskivan har hamnat snett och gett dåliga värden. Printat en ny som ska testas. 
+Ytterst få grupprum på campus har fungerande TV...
+
+
+3. Vad ska göras kommande vecka?
+
+Lägga fokus på det autonoma. 
+Fixa regleringen en gång för alla. 
+Plocka upp förnnödenheter.
+Designa förnödenheter och bestämma placering i förhållande till tejpen.
+Börja kika på alla dokument.
+Användargränssnittet ska visa planerad färdväg. 
+
+Plocka upp förnödenheter autonomt. 
+Positionsreglering fungerar. 
+Användargränssnittet ska visa planerad färdväg. 
+
+
+## Vecka 16 (Grupp XX)(rapporteras måndag v 17)
+1. Den gångna veckan har vi ...
+Reglering fungerar bra förutom när den får trasig gyrodata. 
+Autonom upplockning fungerar bra.
+Förnödenheternas utformning är snart klar.
+Kikat lite på alla dokument.  
+
+2. Just nu har vi inga problem
+Gyrodatan levereras ibland konstigt till styrmodulen. Svårt att reglera då. 
+Att autonomt plocka upp förnödenheter har tagit betydligt mer tid än planerat, men det ser ut att lösa sig nu. 
+
+3. Kommande vecka tänker vi ...
+Testa mycket, förbereda oss för beställarmöte.
+
+Lagra data på fil - Axel
+Gyrofel - Alexander och Nils
+Fixa så att man kan ändra alla reglerparametrar - Alexander
+Färdigställa förnödenheter - Nils
+Jobba med dokument - Daniel, Cornelia, Max, Axel
+Finslipa körning och state machine - Herman + övriga där det behövs
+
+
+
+## Vecka 17 (Grupp XX)(rapporteras måndag v 18)
+1. Den gångna veckan har vi ...
+Vi har börjat skriva lite på kandidatrapporten och den tekniska dokumentationen.
+Förbättrat regleringen avsevärt. 
+Testat en massa.
+Fått till upplockandet av förnödenheterna.
+Fixat buggar i användargränssnittet, och så att man kan ladda ner historik
+
+
+2. Just nu har vi inga problem
+Okej.
+
+3. Kommande vecka tänker vi ...
+Fixa automatisk uppstart av programmet. 
+Förbättra körningen så att vi kan ta kurvor ordentligt. 
+BP5a.
+Öka hastigheten. 
+Finslipa upplockningen av förnödenheter. 
+Skriva dokument.
+
+
+## Vecka 18 (Grupp XX)(rapporteras måndag v 19)
+1. Den gångna veckan har vi ...  
+Haft ett lyckat beställarmöte.  
+Skrivit rapporter och dokumentation.  
+Ökat hastigheten på körningen.  
+Ökat pålitligheten för lidarn.  
+
+2. Just nu har vi inga problem  
+Okej. 
+
+3. Kommande vecka tänker vi ...  
+Skriva dokument.  
+Fixa automatisk uppstart.  
+Fortsätta finslipa upplockningne av förnödenheter.  
+Testa körningen mer. 
+Fixa LCD-skärmens pålitlighet.
+
+
+## Vecka 19 (Grupp XX)(rapporteras måndag v 20)
+1. Den gångna veckan har vi ...
+Förbättrat driftsäkerheten.  
+Fixat automatisk uppstart.  
+Förbättrat LCD-skärmens pålitlighet.  
+Testat körningen och ökat hastigheten.  
+Skrivit dokument.  
+
+
+2. Just nu har vi inga problem
+Okej.  
+
+3. Kommande vecka tänker vi ...
+(Redan haft ett mycket lyckat BP5b)  
+Skriva dokument.  
+Lämna in dokument.  
+Fixa presentation.
+
+
+## Vecka 20 (Grupp XX)(rapporteras måndag v 21)
+1. Den gångna veckan har vi ...  
+Genomfört ett lyckat BP5b.  
+Skrivit dokument.  
+Lämnat in dokument.  
+Börjat fixa med presentation och opponering.  
+
+2. Just nu har vi inga problem  
+Okej.
+
+3. Kommande vecka tänker vi ...  
+Fixa presentation och opponering.  
+Skriva lite på efterstudien.  
+Eventuellt göra mindre justeringar av roboten för tävling/uppvisning. 
+
+
+
+## Vecka 21 (Grupp XX)(rapporteras måndag v 22)
+1. Den gångna veckan har vi ...  
+Fixat inför opponeringen och framläggningen  
+Jobbat med projekt "secret"  
+
+
+2. Just nu har vi inga problem  
+Okej
+
+
+3. Kommande vecka tänker vi ...
+Presentera och opponera  
+"Demoa" och tävla.  
+
+
+## Vecka 22 (Grupp XX)(rapporteras måndag v 23)
+1. Den gångna veckan har vi ...  
+Haft framläggning och opposition  
+Tävlat  
+
+
+2. Just nu har vi inga problem  
+Okej  
+
+
+3. Kommande vecka tänker vi ...  
+Äta glass  
+Bada
\ No newline at end of file

diff --git a/hardcopy/hardware/.gitignore b/hardcopy/hardware/.gitignore
new file mode 100644 (file)
index 0000000..a7331db
--- /dev/null
+++ b/hardcopy/hardware/.gitignore
@@ -0,0 +1,2 @@
+fp-info-cache
+*backups*

diff --git a/hardcopy/hardware/README.md b/hardcopy/hardware/README.md
new file mode 100644 (file)
index 0000000..9932598
--- /dev/null
+++ b/hardcopy/hardware/README.md
@@ -0,0 +1,93 @@
+# Hardware
+
+
+
+## Getting started
+
+To make it easy for you to get started with GitLab, here's a list of recommended next steps.
+
+Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
+
+## Add your files
+
+- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
+- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
+
+```
+cd existing_repo
+git remote add origin https://gitlab.liu.se/da-proj/TSEA56/2024/g08/hardware.git
+git branch -M main
+git push -uf origin main
+```
+
+## Integrate with your tools
+
+- [ ] [Set up project integrations](https://gitlab.liu.se/da-proj/TSEA56/2024/g08/hardware/-/settings/integrations)
+
+## Collaborate with your team
+
+- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
+- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
+- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
+- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
+- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
+
+## Test and Deploy
+
+Use the built-in continuous integration in GitLab.
+
+- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
+- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
+- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
+- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
+- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
+
+***
+
+# Editing this README
+
+When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
+
+## Suggestions for a good README
+
+Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
+
+## Name
+Choose a self-explaining name for your project.
+
+## Description
+Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
+
+## Badges
+On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
+
+## Visuals
+Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
+
+## Installation
+Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
+
+## Usage
+Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
+
+## Support
+Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
+
+## Roadmap
+If you have ideas for releases in the future, it is a good idea to list them in the README.
+
+## Contributing
+State if you are open to contributions and what your requirements are for accepting them.
+
+For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
+
+You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
+
+## Authors and acknowledgment
+Show your appreciation to those who have contributed to the project.
+
+## License
+For open source projects, say how it is licensed.
+
+## Project status
+If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

diff --git a/hardcopy/hardware/schematic.kicad_pcb b/hardcopy/hardware/schematic.kicad_pcb
new file mode 100644 (file)
index 0000000..2b8ba10
--- /dev/null
+++ b/hardcopy/hardware/schematic.kicad_pcb
@@ -0,0 +1,2 @@
+(kicad_pcb (version 20221018) (generator pcbnew)
+)
\ No newline at end of file

diff --git a/hardcopy/hardware/schematic.kicad_prl b/hardcopy/hardware/schematic.kicad_prl
new file mode 100644 (file)
index 0000000..b15b8db
--- /dev/null
+++ b/hardcopy/hardware/schematic.kicad_prl
@@ -0,0 +1,77 @@
+{
+  "board": {
+    "active_layer": 0,
+    "active_layer_preset": "All Layers",
+    "auto_track_width": true,
+    "hidden_netclasses": [],
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "images": 0.6,
+      "pads": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      32,
+      33,
+      34,
+      35,
+      36,
+      39,
+      40
+    ],
+    "visible_layers": "fffffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "meta": {
+    "filename": "schematic.kicad_prl",
+    "version": 3
+  },
+  "project": {
+    "files": []
+  }
+}

diff --git a/hardcopy/hardware/schematic.kicad_pro b/hardcopy/hardware/schematic.kicad_pro
new file mode 100644 (file)
index 0000000..6858fe5
--- /dev/null
+++ b/hardcopy/hardware/schematic.kicad_pro
@@ -0,0 +1,485 @@
+{
+  "board": {
+    "3dviewports": [],
+    "design_settings": {
+      "defaults": {
+        "board_outline_line_width": 0.09999999999999999,
+        "copper_line_width": 0.19999999999999998,
+        "copper_text_italic": false,
+        "copper_text_size_h": 1.5,
+        "copper_text_size_v": 1.5,
+        "copper_text_thickness": 0.3,
+        "copper_text_upright": false,
+        "courtyard_line_width": 0.049999999999999996,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": false,
+          "text_position": 0,
+          "units_format": 1
+        },
+        "fab_line_width": 0.09999999999999999,
+        "fab_text_italic": false,
+        "fab_text_size_h": 1.0,
+        "fab_text_size_v": 1.0,
+        "fab_text_thickness": 0.15,
+        "fab_text_upright": false,
+        "other_line_width": 0.15,
+        "other_text_italic": false,
+        "other_text_size_h": 1.0,
+        "other_text_size_v": 1.0,
+        "other_text_thickness": 0.15,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.762,
+          "height": 1.524,
+          "width": 1.524
+        },
+        "silk_line_width": 0.15,
+        "silk_text_italic": false,
+        "silk_text_size_h": 1.0,
+        "silk_text_size_v": 1.0,
+        "silk_text_thickness": 0.15,
+        "silk_text_upright": false,
+        "zones": {
+          "min_clearance": 0.5
+        }
+      },
+      "diff_pair_dimensions": [],
+      "drc_exclusions": [],
+      "meta": {
+        "version": 2
+      },
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "error",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_type_mismatch": "ignore",
+        "hole_clearance": "error",
+        "hole_near_hole": "error",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "warning",
+        "lib_footprint_mismatch": "warning",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "warning",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "warning",
+        "silk_over_copper": "warning",
+        "silk_overlap": "warning",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
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+        "track_width": "error",
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+    "plot_directory": "",
+    "spice_current_sheet_as_root": false,
+    "spice_external_command": "spice \"%I\"",
+    "spice_model_current_sheet_as_root": true,
+    "spice_save_all_currents": false,
+    "spice_save_all_voltages": false,
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diff --git a/hardcopy/hardware/schematic.kicad_sch b/hardcopy/hardware/schematic.kicad_sch
new file mode 100644 (file)
index 0000000..8578c40
--- /dev/null
+++ b/hardcopy/hardware/schematic.kicad_sch
@@ -0,0 +1,5034 @@
+(kicad_sch (version 20230121) (generator eeschema)
+
+  (uuid 76bf3bf1-1372-4c7f-8be5-873185dd5bdd)
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diff --git a/hardcopy/hardware/schematic_print_v0_1.pdf b/hardcopy/hardware/schematic_print_v0_1.pdf
new file mode 100644 (file)
index 0000000..6860a46
Binary files /dev/null and b/hardcopy/hardware/schematic_print_v0_1.pdf differ

diff --git a/hardcopy/hardware/schematic_print_v0_2.pdf b/hardcopy/hardware/schematic_print_v0_2.pdf
new file mode 100644 (file)
index 0000000..d78a0d1
Binary files /dev/null and b/hardcopy/hardware/schematic_print_v0_2.pdf differ

diff --git a/hardcopy/styrmodul/.gitignore b/hardcopy/styrmodul/.gitignore
new file mode 100644 (file)
index 0000000..7fd64cf
--- /dev/null
+++ b/hardcopy/styrmodul/.gitignore
@@ -0,0 +1,3 @@
+/Styrmodul/Debug/
+/.vs/
+.vs/

diff --git a/hardcopy/styrmodul/README.md b/hardcopy/styrmodul/README.md
new file mode 100644 (file)
index 0000000..6d26b7f
--- /dev/null
+++ b/hardcopy/styrmodul/README.md
@@ -0,0 +1,93 @@
+# Styrmodul
+
+
+
+## Getting started
+
+To make it easy for you to get started with GitLab, here's a list of recommended next steps.
+
+Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
+
+## Add your files
+
+- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
+- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
+
+```
+cd existing_repo
+git remote add origin https://gitlab.liu.se/da-proj/TSEA56/2024/g08/styrmodul.git
+git branch -M main
+git push -uf origin main
+```
+
+## Integrate with your tools
+
+- [ ] [Set up project integrations](https://gitlab.liu.se/da-proj/TSEA56/2024/g08/styrmodul/-/settings/integrations)
+
+## Collaborate with your team
+
+- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
+- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
+- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
+- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
+- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
+
+## Test and Deploy
+
+Use the built-in continuous integration in GitLab.
+
+- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
+- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
+- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
+- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
+- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
+
+***
+
+# Editing this README
+
+When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
+
+## Suggestions for a good README
+
+Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
+
+## Name
+Choose a self-explaining name for your project.
+
+## Description
+Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
+
+## Badges
+On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
+
+## Visuals
+Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
+
+## Installation
+Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
+
+## Usage
+Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
+
+## Support
+Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
+
+## Roadmap
+If you have ideas for releases in the future, it is a good idea to list them in the README.
+
+## Contributing
+State if you are open to contributions and what your requirements are for accepting them.
+
+For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
+
+You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
+
+## Authors and acknowledgment
+Show your appreciation to those who have contributed to the project.
+
+## License
+For open source projects, say how it is licensed.
+
+## Project status
+If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.

diff --git a/hardcopy/styrmodul/Styrmodul.atsln b/hardcopy/styrmodul/Styrmodul.atsln
new file mode 100644 (file)
index 0000000..600d920
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul.atsln
@@ -0,0 +1,22 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Atmel Studio Solution File, Format Version 11.00
+VisualStudioVersion = 14.0.23107.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{54F91283-7BC4-4236-8FF9-10F437C3AD48}") = "Styrmodul", "Styrmodul\Styrmodul.cproj", "{DCE6C7E3-EE26-4D79-826B-08594B9AD897}"
+EndProject
+Global
+       GlobalSection(SolutionConfigurationPlatforms) = preSolution
+               Debug|AVR = Debug|AVR
+               Release|AVR = Release|AVR
+       EndGlobalSection
+       GlobalSection(ProjectConfigurationPlatforms) = postSolution
+               {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|AVR.ActiveCfg = Debug|AVR
+               {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|AVR.Build.0 = Debug|AVR
+               {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|AVR.ActiveCfg = Release|AVR
+               {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|AVR.Build.0 = Release|AVR
+       EndGlobalSection
+       GlobalSection(SolutionProperties) = preSolution
+               HideSolutionNode = FALSE
+       EndGlobalSection
+EndGlobal

diff --git a/hardcopy/styrmodul/Styrmodul.atsuo b/hardcopy/styrmodul/Styrmodul.atsuo
new file mode 100644 (file)
index 0000000..796b28a
Binary files /dev/null and b/hardcopy/styrmodul/Styrmodul.atsuo differ

diff --git a/hardcopy/styrmodul/Styrmodul/I2C.c b/hardcopy/styrmodul/Styrmodul/I2C.c
new file mode 100644 (file)
index 0000000..63207da
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/I2C.c
@@ -0,0 +1,148 @@
+#include <util/twi.h>
+#include <avr/interrupt.h>
+
+#include "I2C.h"
+
+static volatile uint8_t package_buffer[PACKET_SIZE];
+static volatile uint8_t byte_index = 0;
+static volatile uint8_t is_req = 0;
+static volatile uint8_t cur_req_idx = 0;
+
+volatile uint8_t state[REQ_SIZE];
+volatile PackageBuffer pkg_buffer;
+
+static DataPackage convert_last_to_pkg(void)
+{
+       DataPackage pkg; 
+       pkg.header = package_buffer[0];
+       pkg.data_1 = (package_buffer[1] << 8) | (package_buffer[2]);
+       pkg.data_2 = (package_buffer[3] << 8) | (package_buffer[4]);
+       
+       uint16_t checksum = (package_buffer[5] << 8) | (package_buffer[6]);
+       for (int i = 0; i < 5; ++i) {
+               checksum -= package_buffer[i];
+       }
+       pkg.valid = checksum==14453;
+       return pkg;
+}
+
+void I2C_init(uint8_t address) {
+       cli();
+       
+       pkg_buffer = pkgbuf_new();
+       // load address into TWI address register
+       TWAR = address << 1;
+       // set the TWCR to enable address matching and enable TWI, clear TWINT, enable TWI interrupt
+       TWCR = (1<<TWIE) | (1<<TWEA) | (1<<TWINT) | (1<<TWEN);
+       sei();
+}
+
+void I2C_stop(void) {
+  // clear acknowledge and enable bits
+  cli();
+  TWCR = 0;
+  TWAR = 0;
+  sei();
+}
+
+void recv(uint8_t byte) {
+       if (byte_index >= PACKET_SIZE) {
+               return;
+       }
+       package_buffer[byte_index] = byte;
+       byte_index += 1;
+}
+
+void req() {
+       TWDR = state[cur_req_idx];
+       cur_req_idx = cur_req_idx + 1;
+}
+
+ISR(TWI_vect)
+{
+  switch(TW_STATUS)
+  {
+    case TW_SR_DATA_ACK:
+      // received data from master, call the receive callback
+       
+      TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN);
+         recv(TWDR);
+
+         break;
+    case TW_ST_SLA_ACK:
+      // master is requesting data, call the request callback
+      req();
+      TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN);
+      break;
+    case TW_ST_DATA_ACK:
+      // master is requesting data, call the request callback
+      req();
+      TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN);
+      break;
+    case TW_BUS_ERROR:
+      // some sort of erroneous state, prepare TWI to be readdressed
+      TWCR = 0;
+      TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN); 
+      break;
+       case TW_START:
+               cur_req_idx = 0;
+               byte_index = 0;
+               TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN);
+               break;
+       case TW_SR_STOP:
+               TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN);
+               is_req = 0;
+               byte_index = 0;
+               cur_req_idx = 0;
+               if (package_buffer[0] == REQ) {
+                 is_req = 1;
+                 package_buffer[0] = 0xff;
+               } else {
+                       
+                       pkgbuf_push(&pkg_buffer, convert_last_to_pkg());
+               }
+               break;
+    default:
+      TWCR = (1<<TWIE) | (1<<TWINT) | (1<<TWEA) | (1<<TWEN);
+      break;
+  }
+} 
+
+PackageBuffer pkgbuf_new() {
+       DataPackage start_pkg;
+       start_pkg.header = 0xff;
+       start_pkg.data_1 = 0xffff;
+       start_pkg.data_2 = 0xffff;
+       start_pkg.valid = 0;
+       PackageBuffer buf;
+       buf.read_idx = 0;
+       buf.write_idx = 0;
+       
+       for (int i = 0; i < BUFFER_SIZE; ++i) {
+               buf.buf[i] = start_pkg;
+       }
+       return buf;
+}
+
+void pkgbuf_push(volatile PackageBuffer *buf, DataPackage pkg) {
+       uint8_t read_idx = buf->read_idx;
+       uint8_t new_write_idx = (buf->write_idx+1)%BUFFER_SIZE;
+       if (new_write_idx != read_idx) {
+               buf->buf[buf->write_idx] = pkg;
+               buf->write_idx = new_write_idx;
+       }
+}
+
+DataPackage pkgbuf_pop(volatile PackageBuffer *buf, int8_t *success) {
+       uint8_t write_idx = buf->write_idx;
+       
+       DataPackage pkg = buf->buf[buf->read_idx];
+       
+       if (write_idx != buf->read_idx) {
+               buf->read_idx = (buf->read_idx+1) % BUFFER_SIZE;
+               *success = 1;
+               return pkg;
+       }
+       *success = 0;
+       return pkg;
+}

diff --git a/hardcopy/styrmodul/Styrmodul/I2C.h b/hardcopy/styrmodul/Styrmodul/I2C.h
new file mode 100644 (file)
index 0000000..b9f6986
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/I2C.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <avr/interrupt.h>
+#include <stdint.h>
+#include "motor.h"
+
+#define PACKET_SIZE 13 // 1 byte header, 2*2 bytes of data, 2 byte for checksum.
+
+#define REQ_SIZE 30
+#define BUFFER_SIZE 32
+extern volatile uint8_t state[REQ_SIZE];
+
+inline void __attribute__((always_inline)) I2C_transmitByte(uint8_t data) {
+       TWDR = data;
+}
+
+typedef struct DataPackage {
+       uint8_t header;
+       uint16_t data_1;
+       uint16_t data_2;
+       //uint16_t data_3;
+       //uint16_t data_4;
+       //uint16_t data_5;
+       int8_t valid;
+} DataPackage;
+
+typedef struct PackageBuffer {
+       DataPackage buf[BUFFER_SIZE];
+       uint8_t read_idx;
+       uint8_t write_idx;
+} PackageBuffer;
+
+enum {
+       ODOMETER_SPEED = 0x00,
+       ODOMETER_POS = 1,
+       SET_TARGET_POINT = 2,
+       CLAW_MANUAL = 3,
+       FORWARD = 4,
+       TURN = 5,
+       SET_DIFF_KI = 6,        
+       SET_DIFF_K_ORIGIN = 7,
+       SET_DIFF_THRESHOLD = 8,
+       SET_DIFF_K_OUTER = 9,
+       SET_DIFF_M_OUTER = 10,
+       
+       SET_MEAN_KI = 11,
+       SET_MEAN_K = 12,
+
+       ROTATE = 13,
+       SET_POS = 14,
+       SET_ANGLE = 15,
+       STOP = 16,
+       SET_MANUAL = 17,
+       NUDGE_POS = 18,
+       NUDGE_ANGLE = 19,
+       SET_AUTO_ROTATE_SPEED = 20,
+       SET_TARGET_ANGLE_AND_SPEED = 21,
+       SET_MU = 22,
+       SET_L = 23,
+       NUM_OF_PKGS = 24, // Must be last!
+       REQ = 0x80,
+};
+
+extern volatile PackageBuffer pkg_buffer;
+
+PackageBuffer pkgbuf_new();
+void pkgbuf_push(volatile PackageBuffer *buf, DataPackage pkg);
+DataPackage pkgbuf_pop(volatile PackageBuffer *buf, int8_t *success);
+
+void I2C_init(uint8_t address);
+
+void I2C_stop(void);

diff --git a/hardcopy/styrmodul/Styrmodul/Styrmodul.componentinfo.xml b/hardcopy/styrmodul/Styrmodul/Styrmodul.componentinfo.xml
new file mode 100644 (file)
index 0000000..4637a6f
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/Styrmodul.componentinfo.xml
@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Store xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns="AtmelPackComponentManagement">
+       <ProjectComponents>
+               <ProjectComponent z:Id="i1" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/">
+                       <CApiVersion></CApiVersion>
+                       <CBundle></CBundle>
+                       <CClass>Device</CClass>
+                       <CGroup>Startup</CGroup>
+                       <CSub></CSub>
+                       <CVariant></CVariant>
+                       <CVendor>Atmel</CVendor>
+                       <CVersion>1.3.0</CVersion>
+                       <DefaultRepoPath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs</DefaultRepoPath>
+                       <DependentComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays" />
+                       <Description></Description>
+                       <Files xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+                               <d4p1:anyType i:type="FileInfo">
+                                       <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.3.300\include</AbsolutePath>
+                                       <Attribute></Attribute>
+                                       <Category>include</Category>
+                                       <Condition>C</Condition>
+                                       <FileContentHash i:nil="true" />
+                                       <FileVersion></FileVersion>
+                                       <Name>include</Name>
+                                       <SelectString></SelectString>
+                                       <SourcePath></SourcePath>
+                               </d4p1:anyType>
+                               <d4p1:anyType i:type="FileInfo">
+                                       <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.3.300\include\avr\iom1284p.h</AbsolutePath>
+                                       <Attribute></Attribute>
+                                       <Category>header</Category>
+                                       <Condition>C</Condition>
+                                       <FileContentHash>vh9iXs8qtcuaLy+iWn/Ttg==</FileContentHash>
+                                       <FileVersion></FileVersion>
+                                       <Name>include/avr/iom1284p.h</Name>
+                                       <SelectString></SelectString>
+                                       <SourcePath></SourcePath>
+                               </d4p1:anyType>
+                               <d4p1:anyType i:type="FileInfo">
+                                       <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.3.300\templates\main.c</AbsolutePath>
+                                       <Attribute>template</Attribute>
+                                       <Category>source</Category>
+                                       <Condition>C Exe</Condition>
+                                       <FileContentHash>aLOve8Y2qJXXw+PsttepTw==</FileContentHash>
+                                       <FileVersion></FileVersion>
+                                       <Name>templates/main.c</Name>
+                                       <SelectString>Main file (.c)</SelectString>
+                                       <SourcePath></SourcePath>
+                               </d4p1:anyType>
+                               <d4p1:anyType i:type="FileInfo">
+                                       <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.3.300\templates\main.cpp</AbsolutePath>
+                                       <Attribute>template</Attribute>
+                                       <Category>source</Category>
+                                       <Condition>C Exe</Condition>
+                                       <FileContentHash>YXFphlh0CtZJU+ebktABgQ==</FileContentHash>
+                                       <FileVersion></FileVersion>
+                                       <Name>templates/main.cpp</Name>
+                                       <SelectString>Main file (.cpp)</SelectString>
+                                       <SourcePath></SourcePath>
+                               </d4p1:anyType>
+                               <d4p1:anyType i:type="FileInfo">
+                                       <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\ATmega_DFP\1.3.300\gcc\dev\atmega1284p</AbsolutePath>
+                                       <Attribute></Attribute>
+                                       <Category>libraryPrefix</Category>
+                                       <Condition>GCC</Condition>
+                                       <FileContentHash i:nil="true" />
+                                       <FileVersion></FileVersion>
+                                       <Name>gcc/dev/atmega1284p</Name>
+                                       <SelectString></SelectString>
+                                       <SourcePath></SourcePath>
+                               </d4p1:anyType>
+                       </Files>
+                       <PackName>ATmega_DFP</PackName>
+                       <PackPath>C:/Program Files (x86)/Atmel/Studio/7.0/Packs/atmel/ATmega_DFP/1.3.300/Atmel.ATmega_DFP.pdsc</PackPath>
+                       <PackVersion>1.3.300</PackVersion>
+                       <PresentInProject>true</PresentInProject>
+                       <ReferenceConditionId>ATmega1284P</ReferenceConditionId>
+                       <RteComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+                               <d4p1:string></d4p1:string>
+                       </RteComponents>
+                       <Status>Resolved</Status>
+                       <VersionMode>Fixed</VersionMode>
+                       <IsComponentInAtProject>true</IsComponentInAtProject>
+               </ProjectComponent>
+       </ProjectComponents>
+</Store>
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/Styrmodul.cproj b/hardcopy/styrmodul/Styrmodul/Styrmodul.cproj
new file mode 100644 (file)
index 0000000..a691b84
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/Styrmodul.cproj
@@ -0,0 +1,182 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="14.0">
+  <PropertyGroup>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectVersion>7.0</ProjectVersion>
+    <ToolchainName>com.Atmel.AVRGCC8.C</ToolchainName>
+    <ProjectGuid>dce6c7e3-ee26-4d79-826b-08594b9ad897</ProjectGuid>
+    <avrdevice>ATmega1284P</avrdevice>
+    <avrdeviceseries>none</avrdeviceseries>
+    <OutputType>Executable</OutputType>
+    <Language>C</Language>
+    <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+    <OutputFileExtension>.elf</OutputFileExtension>
+    <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+    <AssemblyName>Styrmodul</AssemblyName>
+    <Name>Styrmodul</Name>
+    <RootNamespace>Styrmodul</RootNamespace>
+    <ToolchainFlavour>Native</ToolchainFlavour>
+    <KeepTimersRunning>true</KeepTimersRunning>
+    <OverrideVtor>false</OverrideVtor>
+    <CacheFlash>true</CacheFlash>
+    <ProgFlashFromRam>true</ProgFlashFromRam>
+    <RamSnippetAddress>0x20000000</RamSnippetAddress>
+    <UncachedRange />
+    <preserveEEPROM>true</preserveEEPROM>
+    <OverrideVtorValue>exception_table</OverrideVtorValue>
+    <BootSegment>2</BootSegment>
+    <ResetRule>0</ResetRule>
+    <eraseonlaunchrule>0</eraseonlaunchrule>
+    <EraseKey />
+    <AsfFrameworkConfig>
+      <framework-data xmlns="">
+        <options />
+        <configurations />
+        <files />
+        <documentation help="" />
+        <offline-documentation help="" />
+        <dependencies>
+          <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.47.0" />
+        </dependencies>
+      </framework-data>
+    </AsfFrameworkConfig>
+    <avrtool>com.atmel.avrdbg.tool.atmelice</avrtool>
+    <avrtoolserialnumber>J41800004579</avrtoolserialnumber>
+    <avrdeviceexpectedsignature>0x1E9705</avrdeviceexpectedsignature>
+    <com_atmel_avrdbg_tool_atmelice>
+      <ToolOptions>
+        <InterfaceProperties>
+          <JtagDbgClock>200000</JtagDbgClock>
+        </InterfaceProperties>
+        <InterfaceName>JTAG</InterfaceName>
+      </ToolOptions>
+      <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
+      <ToolNumber>J41800004579</ToolNumber>
+      <ToolName>Atmel-ICE</ToolName>
+    </com_atmel_avrdbg_tool_atmelice>
+    <avrtoolinterface>JTAG</avrtoolinterface>
+    <avrtoolinterfaceclock>200000</avrtoolinterfaceclock>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <ToolchainSettings>
+      <AvrGcc>
+        <avrgcc.common.Device>-mmcu=atmega1284p -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.3.300\gcc\dev\atmega1284p"</avrgcc.common.Device>
+        <avrgcc.common.optimization.RelaxBranches>True</avrgcc.common.optimization.RelaxBranches>
+        <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.directories.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.3.300\include</Value>
+          </ListValues>
+        </avrgcc.compiler.directories.IncludePaths>
+        <avrgcc.compiler.optimization.level>Optimize for size (-Os)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcc.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcc.linker.libraries.Libraries>
+        <avrgcc.assembler.general.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.3.300\include</Value>
+          </ListValues>
+        </avrgcc.assembler.general.IncludePaths>
+      </AvrGcc>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <ToolchainSettings>
+      <AvrGcc>
+        <avrgcc.common.Device>-mmcu=atmega1284p -B "%24(PackRepoDir)\atmel\ATmega_DFP\1.3.300\gcc\dev\atmega1284p"</avrgcc.common.Device>
+        <avrgcc.common.optimization.RelaxBranches>True</avrgcc.common.optimization.RelaxBranches>
+        <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.directories.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.3.300\include</Value>
+          </ListValues>
+        </avrgcc.compiler.directories.IncludePaths>
+        <avrgcc.compiler.optimization.level>Optimize (-O1)</avrgcc.compiler.optimization.level>
+        <avrgcc.compiler.optimization.PackStructureMembers>True</avrgcc.compiler.optimization.PackStructureMembers>
+        <avrgcc.compiler.optimization.AllocateBytesNeededForEnum>True</avrgcc.compiler.optimization.AllocateBytesNeededForEnum>
+        <avrgcc.compiler.optimization.DebugLevel>Default (-g2)</avrgcc.compiler.optimization.DebugLevel>
+        <avrgcc.compiler.warnings.AllWarnings>True</avrgcc.compiler.warnings.AllWarnings>
+        <avrgcc.linker.libraries.Libraries>
+          <ListValues>
+            <Value>libm</Value>
+          </ListValues>
+        </avrgcc.linker.libraries.Libraries>
+        <avrgcc.assembler.general.IncludePaths>
+          <ListValues>
+            <Value>%24(PackRepoDir)\atmel\ATmega_DFP\1.3.300\include</Value>
+          </ListValues>
+        </avrgcc.assembler.general.IncludePaths>
+        <avrgcc.assembler.debugging.DebugLevel>Default (-Wa,-g)</avrgcc.assembler.debugging.DebugLevel>
+      </AvrGcc>
+    </ToolchainSettings>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="lowpass.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="lowpass.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="motor.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="motor.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="I2C.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="I2C.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="main.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="purepursuit.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="purepursuit.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="trig_lookup.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="uart.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="uart.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="vector.h">
+      <SubType>compile</SubType>
+    </Compile>
+  </ItemGroup>
+  <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/lowpass.c b/hardcopy/styrmodul/Styrmodul/lowpass.c
new file mode 100644 (file)
index 0000000..78a5513
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/lowpass.c
@@ -0,0 +1,32 @@
+#include "lowpass.h"
+
+LowPass lp_new(int32fp h) {
+       LowPass result = {
+               .filtered_value = 0,
+               .h = h,
+       };
+       return result;
+}
+
+void lp_update(LowPass *filter, int32fp target, int8_t is_angle) {
+       //filter->filtered_value = ( ((target)*filter->h) + ( (filter->filtered_value)*( ((int32fp)1<<15) - filter->h) ) )>>15;
+       
+       volatile int32fp diff = target - filter->filtered_value;
+       if (is_angle) {
+               if (diff > (int32fp)180<<15) {
+                       diff -= (int32fp)360<<15;
+               }
+               if (diff < -(int32fp)180<<15) {
+                       diff += (int32fp)360<<15;
+               }
+       }
+       filter->filtered_value += (((int64_t)diff)*(int64_t)filter->h) >> 15;
+       if (is_angle) {
+               if (filter->filtered_value > (int32fp)180<<15) {
+                       filter->filtered_value -= (int32fp)360<<15;
+               }
+               if (filter->filtered_value < -(int32fp)180<<15) {
+                       filter->filtered_value += (int32fp)360<<15;
+               }
+       }
+}
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/lowpass.h b/hardcopy/styrmodul/Styrmodul/lowpass.h
new file mode 100644 (file)
index 0000000..e67704d
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/lowpass.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include "motor.h"
+
+typedef struct LowPass {
+       int32fp h;
+       int32fp filtered_value; // Must be 15 bit fixed point
+} LowPass;
+
+LowPass lp_new(int32fp h);
+void lp_update(LowPass *filter, int32fp target, int8_t is_angle);
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/main.c b/hardcopy/styrmodul/Styrmodul/main.c
new file mode 100644 (file)
index 0000000..863ac9a
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/main.c
@@ -0,0 +1,413 @@
+#define F_CPU 8000000
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+#include <util/twi.h>
+#include <avr/interrupt.h>
+#include "uart.h"
+
+#include "I2C.h"
+#include "motor.h"
+#include "purepursuit.h"
+
+typedef struct OdoUartPkg
+{
+       uint16_t vel_l;
+       uint16_t vel_r;
+       uint16_t dist_since_last_l;
+       uint16_t dist_since_last_r;
+       uint16_t angle; // Degrees I think?
+       uint16_t checksum;
+} OdoUartPkg;
+
+
+int8_t manual = 1;
+uint16_t auto_rotate_speed = 25;
+MovementController controller;
+Theseus theseus;
+OdoUartPkg control_state;
+
+void set_claw_pos(uint8_t pos) {
+       OCR1A = 33+pos;
+}
+
+int8_t recv_uart_pkg()
+{
+       uint8_t buf[12];
+       start:
+       while (!uart_available()) {}
+       //while (!uart_available()) {_delay_us(10);}
+       uint8_t sync_byte = uart_getc();
+       if (sync_byte != 0xf0) {
+               goto start;
+       }
+
+       for (int i = 0; i < 12; ++i) {
+               while (!uart_available()) {}
+               //while (!uart_available()) {_delay_us(10);}
+               uint8_t upper_half = uart_getc();
+               
+               if ((upper_half & 0xf0) != 0) {
+                       return 0;
+               }
+               
+               while (!uart_available()) {}
+               //while (!uart_available()) {_delay_us(10);}
+               uint8_t lower_half = uart_getc();
+               
+               if ((lower_half & 0xf0) != 0) {
+                       return 0;
+               }
+               
+               
+               uint8_t result = (lower_half & 0x0f) | (upper_half << 4);
+               buf[i] = result;
+       }
+       
+       while (!uart_available()) {}
+       //while (!uart_available()) {_delay_us(10);}
+       uint8_t end_byte = uart_getc();
+       if (end_byte != 0xf1) {
+               return 0;
+       }
+       
+       control_state.vel_l = buf[0] << 8;
+       control_state.vel_l |= buf[1];
+       control_state.vel_r = buf[2] << 8;
+       control_state.vel_r |= buf[3];
+       control_state.dist_since_last_l = buf[4] << 8;
+       control_state.dist_since_last_l |= buf[5];
+       control_state.dist_since_last_r = buf[6] << 8;
+       control_state.dist_since_last_r |= buf[7];
+       control_state.angle = buf[8] << 8;
+       control_state.angle |= buf[9];
+       control_state.checksum = buf[10] << 8;
+       control_state.checksum |= buf[11];
+       
+       uint16_t checksum = control_state.checksum;
+       for (int i = 0; i < 10; ++i) {
+               checksum -= buf[i];
+       }
+       if (control_state.vel_l != 0 || control_state.vel_r != 0) {
+               asm("nop");
+       }
+       if (control_state.dist_since_last_l != 0 || control_state.dist_since_last_r != 0) {
+               asm("nop");
+       }
+       
+       return checksum == 14453;
+}
+
+// TODO replace float with ints.
+float temp;
+float vleft;
+float vright;
+void parse_pkg(volatile DataPackage* pkg)
+{
+       
+       float factor;
+       int16fp speed;
+       switch (pkg->header)
+       {
+               // All integers are assumed to be sent as 16 bit big endian.
+               case SET_TARGET_POINT:
+               manual = 0;
+               theseus_set_target_point(&theseus, vec2_new(pkg->data_1, pkg->data_2));
+               break;
+               case CLAW_MANUAL:
+               //Expects [0-33, 2 bytes]
+               set_claw_pos((uint8_t) pkg->data_1);
+               break;
+               case FORWARD:
+               manual = 1;
+               //Expects [0-255, 2 bytes]
+               manual = 1;
+               if (pkg->data_1 == 0) {
+                       controller.diff_controller.sum = 0;
+                       controller.mean_controller.sum = 0;
+               }
+               movementcontroller_set_target(&controller, pkg->data_1, pkg->data_1);
+               break;
+               case TURN:
+               manual = 1;
+               //Expects [1/r, mm^(-1), 12 bit fixed point][v, m/s]
+               // v(1 - d/r)
+               
+               if (pkg->data_2 == 0) {
+                       controller.diff_controller.sum = 0;
+                       controller.mean_controller.sum = 0;
+               }
+               
+               temp = (float)((int16_t)pkg->data_1);
+               factor =  (temp * (float)(WIDTH_MM/2.0))/4096.0f;
+               vleft = (int16_t)pkg->data_2 * (1 - factor);
+               vright = (int16_t)pkg->data_2 * (1 + factor);
+               movementcontroller_set_target(&controller, vleft, vright);
+               break;
+               
+               case SET_DIFF_KI:
+               controller.diff_controller.Ki = pkg->data_1;
+               break;
+               case SET_DIFF_K_ORIGIN:
+               controller.diff_controller.k_origin = pkg->data_1;
+               break;
+               case SET_DIFF_THRESHOLD:
+               controller.diff_controller.threshold = pkg->data_1;
+               break;
+               case SET_DIFF_K_OUTER:
+               controller.diff_controller.k_outer = pkg->data_1;
+               break;
+               case SET_DIFF_M_OUTER:
+               controller.diff_controller.m_outer = pkg->data_1;
+               break;
+
+               case SET_MEAN_KI:
+               controller.mean_controller.Ki = pkg->data_1;
+               break;
+               case SET_MEAN_K:
+               controller.mean_controller.k = pkg->data_1;
+               break;
+
+               case ROTATE:
+               manual = 1;
+               speed = pkg->data_1;
+               //v/r*180/pi=data1e
+               //v=data1*r*pi/180*256 = data1*0.8936 = / almost equal / = data1
+               speed = pkg->data_1;
+               movementcontroller_set_target(&controller, -speed, speed);
+               break;
+               case SET_POS:
+               // Expects [x coord, meter, 8 bit fixed point][y coord, meter, 8 bit fixed point
+               theseus_set_position(&theseus, (int16fp)pkg->data_1, (int16fp)pkg->data_2);
+               break;
+               case SET_ANGLE:
+               theseus_set_angle(&theseus, pkg->data_1);
+               break;
+               case STOP:
+               theseus.target_reached = 1;
+               controller.diff_controller.sum = 0;
+               controller.mean_controller.sum = 0;
+               manual = 1;
+               raw_set_motor_speed(&controller.left_motor, 0);
+               raw_set_motor_speed(&controller.right_motor, 0);
+               movementcontroller_set_target(&controller, 0, 0);
+               break;
+               case SET_MANUAL:
+               manual = pkg->data_1;
+               break;
+               case NUDGE_POS:
+               theseus_nudge_pos(&theseus, (int16fp)pkg->data_1, (int16fp)pkg->data_2);
+               break;
+               case NUDGE_ANGLE:
+               theseus_nudge_angle(&theseus, pkg->data_1);
+               break;
+               case SET_AUTO_ROTATE_SPEED:
+               auto_rotate_speed = pkg->data_1;
+               break;
+               case SET_TARGET_ANGLE_AND_SPEED:
+               // Must be sent before set target position
+               theseus.target_angle = pkg->data_1;
+               theseus.speed = pkg->data_2;
+               break;
+               case SET_MU:
+               theseus.mu = pkg->data_1;
+               break;
+               case SET_L:
+               theseus.l = pkg->data_1;
+               break;
+               default:
+               break;
+       }
+}
+
+
+#define APPEND_TO_STATE_16(i, a) state[i++] = (a) >> 8; state[i++] = (a)
+
+void update_state() {
+
+       cli();
+       
+       volatile int idx = 0;
+       int16fp avg = get_moving_average(&controller.avg_left)>>(15-FIXED_POINT-5);
+       APPEND_TO_STATE_16(idx, avg);
+       
+       avg = get_moving_average(&controller.avg_right)>>(15-FIXED_POINT-5);
+       APPEND_TO_STATE_16(idx, avg);
+       
+       int16fp target_left = controller.mean_controller.target + controller.diff_controller.target;
+       int16fp target_right = controller.mean_controller.target - controller.diff_controller.target;
+       APPEND_TO_STATE_16(idx, target_left);
+       APPEND_TO_STATE_16(idx, target_right);
+       
+       int16fp x = (theseus.lp_x.filtered_value >> (15-FIXED_POINT));
+       APPEND_TO_STATE_16(idx, x);
+       
+       int16fp y = (theseus.lp_y.filtered_value >> (15-FIXED_POINT));
+       APPEND_TO_STATE_16(idx, y);
+       // idx = 12
+       
+       APPEND_TO_STATE_16(idx, controller.diff_controller.k_origin);
+       APPEND_TO_STATE_16(idx, controller.diff_controller.threshold);
+       APPEND_TO_STATE_16(idx, controller.diff_controller.k_outer);
+       APPEND_TO_STATE_16(idx, controller.diff_controller.m_outer);
+       
+       APPEND_TO_STATE_16(idx, controller.mean_controller.k);
+       // idx = 22
+       
+       state[idx++] = controller.left_motor.pwm;
+       state[idx++] = controller.right_motor.pwm;
+
+       APPEND_TO_STATE_16(idx, theseus.lp_angle.filtered_value >> 15);
+       APPEND_TO_STATE_16(idx, auto_rotate_speed);
+       // idx = 28
+
+
+       uint16_t checksum = 14453;
+       for (int i = 0; i < idx; ++i) {
+               checksum += state[i];
+       }
+       
+       APPEND_TO_STATE_16(idx, checksum);
+
+       sei();
+       
+}
+#undef APPEND_TO_STATE_16
+
+
+void motor_init() {
+
+       DDRD |= _BV(PD5) | _BV(PD0) | _BV(PD1) ;
+       DDRB |= _BV(PB3) | _BV(PB4);
+       DDRA |= _BV(PA7) | _BV(PA6);
+
+       TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11);
+       TCCR1B = 4 |_BV(WGM13) | _BV(WGM12);
+       ICR1 = PWM_COUNTER_MAX;
+
+       TCCR0A = _BV(COM0A1) | _BV(COM0B1) | _BV(WGM00) | _BV(WGM01);
+       TCCR0B = 4;
+
+       Motor left_motor, right_motor;
+       left_motor.dir_addr = &PORTA;
+       left_motor.dir_bit = PA6;
+       left_motor.cur_dir = 1;
+       left_motor.pwm_ocr = &OCR0B;
+
+       right_motor.dir_addr = &PORTA;
+       right_motor.dir_bit = PA7;
+       right_motor.cur_dir = 1;
+       right_motor.pwm_ocr = &OCR0A;
+
+       controller = movementcontroller_new(left_motor, right_motor);
+}
+
+int main (void) {
+       
+       theseus = theseus_new();
+       
+       motor_init();
+
+       // I2C address 3
+       I2C_init(3);
+       uart_init(UART_BAUD_SELECT(UART_BAUD_RATE, F_CPU));
+       
+       sei();
+       
+       int16_t angle = 0;
+       int8_t has_received_angle = 0;
+       // Mainloop
+       while (1) {
+               //asm("nop");
+               //_delay_us(100);
+               while (uart_available()) {
+               //if (0) {      
+                       // control_state.vel_n is m/s in in 15 bit fixed point.
+                       // Data frequency is 30 Hz which is approx 32 Hz.
+                       const int16fp DELTA_TIME = 1<<(FIXED_POINT-5);
+                       
+                       if (recv_uart_pkg()) {
+                       //if (0) {
+                               int16_t signed_delta_pos_l = control_state.dist_since_last_l;
+                               if (controller.left_motor.cur_dir == -1) {
+                                       signed_delta_pos_l = -signed_delta_pos_l;
+                               }
+                               int16_t signed_delta_pos_r = control_state.dist_since_last_r;
+                               if (controller.right_motor.cur_dir == -1) {
+                                       signed_delta_pos_r = -signed_delta_pos_r;
+                               }
+
+                               if (has_received_angle) {
+                                       int16_t diff = -(control_state.angle-angle);
+                                       theseus_update(&theseus, (signed_delta_pos_l+signed_delta_pos_r)/2, diff);
+                               }
+                               angle = control_state.angle;
+                               has_received_angle = 1;
+                               if (signed_delta_pos_l != 0 || signed_delta_pos_r != 0) {
+                                       asm("nop");
+                               }
+                               movementcontroller_update(&controller, signed_delta_pos_l, signed_delta_pos_r, DELTA_TIME);
+                               } else {
+                               movementcontroller_update(&controller, 0, 0, DELTA_TIME);
+                       }
+                       update_state();
+                       
+                       if (manual) {
+                               // Shouldn't be controlled by the automatic stuff.
+                       } else if (theseus.target_reached) {
+                               movementcontroller_set_target(&controller, 0, 0);
+                       } else {
+                               /*int8_t st = should_rotate(&theseus);
+                               
+                               if (st == 0) {
+                                       theseus.turn_threshold = WIDE_TURN_CONE;
+                                       } else if (theseus.is_rotating == 0) {
+                                       theseus.turn_threshold = NARROW_TURN_CONE;
+                               }
+                               theseus.is_rotating = st;*/
+
+                               int8_t dir = 0;
+                               int32fp inv_radius = lq_following(&theseus, &dir);
+                               // TODO remove use of constant speed.
+                               // TODO use fixed point integer instead of floating point.
+                               
+                               temp = (float)(inv_radius);
+                               float factor =  (temp * (float)(WIDTH_MM/1000.0/2.0))/256.0f;
+                               vleft = (float)dir*(float)theseus.speed * (1 - factor);
+                               vright = (float)dir*(float)theseus.speed * (1 + factor);
+                               
+                               if (vleft > 256) {
+                                       vleft = 256;
+                               }
+                               if (vleft < -256) {
+                                       vleft = -256;
+                               }
+                               if (vright > 256) {
+                                       vright = 256;
+                               }
+                               if (vright < -256) {
+                                       vright = -256;
+                               }
+                               
+                               /*if (theseus.is_rotating != 0) {
+                                       vleft = -theseus.is_rotating*auto_rotate_speed;
+                                       vright = theseus.is_rotating*auto_rotate_speed;
+                               }*/
+                               
+                               movementcontroller_set_target(&controller, vleft, vright);
+                       }
+               }
+
+               while (1) {
+                       int8_t success = 0;
+                       DataPackage pkg = pkgbuf_pop(&pkg_buffer, &success);
+                       if (!success) {
+                               break;
+                       }
+                       if (pkg.valid) {
+                               parse_pkg(&pkg);                
+                       }
+               }
+       }
+}
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/motor.c b/hardcopy/styrmodul/Styrmodul/motor.c
new file mode 100644 (file)
index 0000000..5715fa0
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/motor.c
@@ -0,0 +1,165 @@
+/*
+ * controller.c
+ *
+ * Created: 2024-04-08 11:53:13
+ *  Author: alebe643
+ */ 
+#include "motor.h"
+#include <avr/io.h>
+
+
+int16fp update_mean(MeanController *ctrl, int32fp current_speed, int32fp delta_time) {
+       //int32fp error = mean->target - current_speed
+
+       return FP_MUL(ctrl->target, ctrl->k);
+}
+
+int32fp update_diff(DiffController *ctrl, int32fp current_speed, int32fp delta_time) {
+       //int32fp error = ctrl->target - current_speed;
+       
+       int32fp abs_vel = ctrl->target;
+       if (abs_vel < 0) {
+               abs_vel = -abs_vel;
+       }
+       
+       int16_t pwm = 0;
+       
+       if (abs_vel < ctrl->threshold) {
+               pwm = FP_MUL(ctrl->k_origin, abs_vel);
+               } else {
+               pwm = FP_MUL(ctrl->k_outer, abs_vel) + ctrl->m_outer;
+       }
+       
+       if (ctrl->target < 0) {
+               pwm = -pwm;
+       }
+       return pwm;
+}
+
+MeanController meanctrl_new(int16fp Ki) {
+       MeanController controller;
+       controller.Ki = Ki;
+       controller.sum = 0;
+       controller.k = 262;
+       controller.target = 0;
+       return controller;
+}
+
+DiffController diffctrl_new(int16fp Ki) {
+       DiffController controller;
+       controller.Ki = Ki;
+       controller.k_origin = 883;
+       controller.threshold = 10;
+       controller.k_outer = 262;
+       controller.m_outer = 22;
+       
+       controller.sum = 0;
+       controller.target = 0;
+       return controller;
+}
+
+volatile int16_t start_speed;
+// `speed` is an integer between -MAX_SPEED and MAX_SPEED
+void raw_set_motor_speed(Motor* motor, int16_t speed) {
+
+       start_speed = speed;
+       if (speed < 0) {
+               *(motor->dir_addr) = *(motor->dir_addr) & ~(1 << motor->dir_bit);
+               speed = -speed;
+               motor->cur_dir = -1;
+               } else {
+               *(motor->dir_addr) = *(motor->dir_addr) | (1 << motor->dir_bit);
+               motor->cur_dir = 1;
+       }
+       if (speed > MAX_SPEED) {
+               speed = MAX_SPEED;
+
+       }
+       motor->pwm = speed;
+       if (motor->pwm != 0) {
+               asm("nop");
+       }
+       *(motor->pwm_ocr) = speed;
+}
+
+MovingAverage movingaverage_new() {
+       MovingAverage mavg;
+       mavg.cur_idx = 0;
+       mavg.avg = 0;
+       for (int i = 0; i < MOVING_AVERAGE_SIZE; ++i) {
+               mavg.vals[i] = 0;
+       }
+       return mavg;
+}
+
+void update_moving_average(MovingAverage *mavg, int16fp new_val) {
+       mavg->avg -= mavg->vals[mavg->cur_idx];
+       mavg->vals[mavg->cur_idx] = new_val;
+       mavg->avg += mavg->vals[mavg->cur_idx];
+       mavg->cur_idx = (mavg->cur_idx+1) & (MOVING_AVERAGE_SIZE-1); // Modulo (MOVING_AVERAGE_SIZE)
+}
+
+int16fp get_moving_average(MovingAverage *mavg) {
+       return mavg->avg >> MOVING_AVERAGE_POW;
+}
+
+MovementController movementcontroller_new(Motor left_motor, Motor right_motor) {
+       MovementController controller = {
+               .mean_controller = meanctrl_new(0),
+               .diff_controller = diffctrl_new(0),
+               .left_motor = left_motor,
+               .right_motor = right_motor,
+               .avg_left = movingaverage_new(),
+               .avg_right = movingaverage_new(),
+       };
+       return controller;
+}
+
+void movementcontroller_set_target(MovementController *controller, int16fp target_left, int16fp target_right) {
+       if (target_left != 0 || target_right != 0) {
+               asm("nop");
+       }
+       controller->mean_controller.target = (target_left+target_right)/2;
+       controller->diff_controller.target = (target_left-target_right)/2;
+}
+
+void movementcontroller_update(MovementController *controller, volatile int16fp left_speed, volatile int16fp right_speed, int16fp delta_time) {
+       /*update_moving_average(&controller->avg_left, left_speed);
+       update_moving_average(&controller->avg_right, right_speed);
+       
+       int32fp mavg_left = get_moving_average(&controller->avg_left)>>M_TO_MS_RSHIFT;
+       int32fp mavg_right = get_moving_average(&controller->avg_right)>>M_TO_MS_RSHIFT;
+       
+       int32fp mean = (mavg_left+mavg_right)/2;
+       int32fp diff = (mavg_left-mavg_right)/2;
+       
+       volatile int16_t pwm_mean = update_mean(&controller->mean_controller, mean, delta_time);
+       volatile int16_t pwm_diff = update_diff(&controller->diff_controller, diff, delta_time);
+       */
+       
+       volatile int16_t pwm_mean = update_mean(&controller->mean_controller, 0, delta_time);
+       volatile int16_t pwm_diff = update_diff(&controller->diff_controller, 0, delta_time);
+       
+       
+       if (pwm_mean != 0 || pwm_diff != 0) {
+               asm("nop");
+       }
+       
+       raw_set_motor_speed(&controller->left_motor, pwm_mean+pwm_diff);
+       raw_set_motor_speed(&controller->right_motor, pwm_mean-pwm_diff);
+}
+
+void movementcontroller_set_target_left(MovementController *controller, int16fp left_speed) {
+       int16fp target_left = left_speed;
+       int16fp target_right = controller->mean_controller.target - controller->diff_controller.target;
+       controller->mean_controller.target = (target_left+target_right)/2;
+       controller->diff_controller.target = (target_left-target_right)/2;
+}
+
+void movementcontroller_set_target_right(MovementController *controller, int16fp right_speed) {
+       int16fp target_left = controller->mean_controller.target + controller->diff_controller.target;
+       int16fp target_right = right_speed;
+       controller->mean_controller.target = (target_left+target_right)/2;
+       controller->diff_controller.target = (target_left-target_right)/2;
+       //controller->diff_controller.target = right_speed;
+}

diff --git a/hardcopy/styrmodul/Styrmodul/motor.h b/hardcopy/styrmodul/Styrmodul/motor.h
new file mode 100644 (file)
index 0000000..93a8908
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/motor.h
@@ -0,0 +1,84 @@
+#pragma once
+
+#include <stdint.h>
+
+#define PWM_COUNTER_MAX 640
+#define MAX_SPEED 250
+#define WIDTH_MM 200
+#define MOVING_AVERAGE_POW 3 // buffer will be of size 2^MOVING_AVERAGE_POW.
+#define MOVING_AVERAGE_SIZE (1 << MOVING_AVERAGE_POW)
+
+#define FIXED_POINT 8 // DO NOT CHANGE UNDER ANY CIRCUMSTANCE!!!
+#define FP_MUL(a, b) (( (int32_t)(a)*(int32_t)(b)) >> FIXED_POINT)
+#define FP_DIV(a, b) ( ((a) << FIXED_POINT) /(b))
+
+#define M_TO_MS_RSHIFT (15-FIXED_POINT-5)
+
+typedef int16_t int16fp;
+typedef int32_t int32fp;
+
+typedef struct MeanController {
+       int16fp Ki;
+       int32fp sum;
+       int32fp k; // Slope of line
+       int16fp target;
+} MeanController;
+
+typedef struct DiffController {
+       int16fp Ki;
+       int32fp k_origin; // Slope around the origin.
+       int32fp threshold; // Threshold when we switch from the different lines.
+       int32fp k_outer; // Slope outside of threshold.
+       int32fp m_outer;
+       
+       int32fp sum;
+       int16fp target;
+} DiffController;
+
+typedef struct MovingAverage {
+       int16fp vals[MOVING_AVERAGE_SIZE];
+       uint8_t cur_idx;
+       int32fp avg;
+} MovingAverage;
+
+typedef struct Motor {
+       volatile uint8_t* dir_addr;
+       int8_t dir_bit;
+       int8_t cur_dir;
+       
+       volatile uint8_t* pwm_ocr;
+       uint8_t pwm;
+       int32_t dist_moved;
+} Motor;
+
+// Controls both motors.
+typedef struct MovementController {
+       Motor left_motor;
+       Motor right_motor;
+       MeanController mean_controller;
+       DiffController diff_controller;
+       MovingAverage avg_left;
+       MovingAverage avg_right;
+} MovementController;
+
+MeanController meanctrl_new(int16fp Ki);
+DiffController diffctrl_new(int16fp Ki);
+
+// `speed` is an integer between -MAX_SPEED and MAX_SPEED
+void raw_set_motor_speed(Motor* motor, int16_t speed);
+
+MovingAverage movingaverage_new();
+
+void update_moving_average(MovingAverage *mavg, int16fp new_val);
+
+int16fp get_moving_average(MovingAverage *mavg);
+
+MovementController movementcontroller_new(Motor left_motor, Motor right_motor);
+
+void movementcontroller_set_target(MovementController *controller, int16fp target_left, int16fp target_right);
+
+void movementcontroller_update(MovementController *controller, int16fp left_speed, int16fp right_speed, int16fp delta_time);
+
+void movementcontroller_set_target_left(MovementController *controller, int16fp left_speed);
+
+void movementcontroller_set_target_right(MovementController *controller, int16fp right_speed);
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/purepursuit.c b/hardcopy/styrmodul/Styrmodul/purepursuit.c
new file mode 100644 (file)
index 0000000..8cebb3f
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/purepursuit.c
@@ -0,0 +1,164 @@
+#include "purepursuit.h"
+
+const int32fp PP_DIST_SQUARED = 1; // 15 cm, nej
+
+Theseus theseus_new() {
+       Theseus theseus;
+       theseus.direction = vec2_new(256, 0);
+       theseus.lp_x = lp_new(8000);
+       theseus.lp_y = lp_new(8000);
+       theseus.lp_angle = lp_new(8000);
+       theseus.target_reached = 1;
+       theseus.target_angle = 0;
+       theseus.speed = 51;
+       theseus.is_rotating = 0;
+       theseus.mu = 5*256;
+       theseus.l = 31;
+       theseus.turn_threshold = WIDE_TURN_CONE; //
+       return theseus;
+}
+
+vec2 target;
+vec2 diff;
+int32fp dist;
+
+// movement_forward should be 15 bit fixed point.
+void theseus_update(Theseus *thes, int32fp movement_forward, int16fp delta_angle) {
+       
+       // It will often be zero.
+       if (movement_forward != 0) {
+               thes->lp_x.filtered_value += FP_MUL(thes->direction.x, movement_forward);
+               thes->lp_y.filtered_value += FP_MUL(thes->direction.y, movement_forward);
+       }
+       
+       // It will often be zero.
+       if (delta_angle != 0) {
+               thes->lp_angle.filtered_value += (int32fp)delta_angle << 15;
+               thes->direction.x = fast_cos(thes->lp_angle.filtered_value >> 15);
+               thes->direction.y = fast_sin(thes->lp_angle.filtered_value >> 15);
+       }
+               
+}
+
+void theseus_set_target_point(Theseus *thes, vec2 target) {
+       thes->target = target;
+       thes->target_reached = 0;
+}
+
+// x and y are 8 bit FP.
+void theseus_set_position(Theseus *thes, int16fp x, int16fp y) {
+       thes->lp_x.filtered_value = x << (15-FIXED_POINT);
+       thes->lp_y.filtered_value = y << (15-FIXED_POINT);
+}
+
+void theseus_set_angle(Theseus *thes, int16_t angle) {
+       thes->lp_angle.filtered_value = (int32fp)angle << 15;
+       thes->direction = vec2_new(fast_sin(angle), fast_cos(angle));
+}
+
+// x and y are 9 bit FP.
+void theseus_nudge_pos(Theseus *thes, int32fp x, int32fp y) {
+       lp_update(&thes->lp_x, x << (15-9), 0);
+       lp_update(&thes->lp_y, y << (15-9), 0);
+}
+
+void theseus_nudge_angle(Theseus *thes, int16_t angle) {
+       lp_update(&thes->lp_angle, (int32fp)angle << 15, 1);
+       thes->direction = vec2_new(fast_cos(thes->lp_angle.filtered_value >> 15), fast_sin(thes->lp_angle.filtered_value >> 15));
+}
+
+
+int32fp pure_pursuit(Theseus *thes, int8_t *dir) {
+       
+       if (thes->target_reached == 0) {
+               vec2 position = vec2_new(thes->lp_x.filtered_value >> (15-FIXED_POINT), thes->lp_y.filtered_value >> (15-FIXED_POINT));
+               volatile vec2 diff = vec2_sub(thes->target, position);
+               volatile int32fp l_squared = vec2_norm_squared(diff);
+               volatile vec2 dir_rot;
+               dir_rot.x = -thes->direction.y;
+               dir_rot.y = thes->direction.x;
+               int32fp d = vec2_dot(thes->direction, diff);
+               if (d < 0) {
+                       *dir = -1;
+               } else {
+                       *dir = 1;
+               }
+               volatile int32fp x = vec2_dot(diff, dir_rot);
+               volatile int32fp a = 2*x;
+               
+               volatile int32fp b = l_squared;
+               return FP_DIV(a, b);
+       }
+
+       // Oh no, we shouldn't reach this point!
+       return 0;
+}
+
+int32fp lq_following(Theseus * volatile thes, int8_t * volatile dir) {
+       if (!thes->target_reached) {
+               volatile vec2 position = vec2_new(thes->lp_x.filtered_value >> (15-FIXED_POINT), thes->lp_y.filtered_value >> (15-FIXED_POINT));
+               volatile int16_t cur_angle = thes->lp_angle.filtered_value >> 15;
+               //vec2 direction = 
+               volatile vec2 dest_dir = vec2_new(fast_cos(thes->target_angle), fast_sin(thes->target_angle));
+               volatile vec2 dir_rot;
+               dir_rot.x = dest_dir.y;
+               dir_rot.y = -dest_dir.x;
+               volatile int32fp y = vec2_dot(dir_rot, vec2_sub(position, thes->target));
+               volatile int32fp alpha = (cur_angle-thes->target_angle);
+               
+               if (alpha < -180) {
+                       alpha += 360;
+               }
+               if (alpha > 180) {
+                       alpha -= 360;
+               }
+               alpha = alpha*4; // pi/180*256
+               volatile int32fp lmu = FP_MUL(thes->l, thes->mu);
+               volatile int32fp alpha_koeff = 256+FP_DIV(FP_MUL(lmu, lmu), 256+lmu);
+               
+               volatile int32fp curvature = 2*FP_MUL(thes->mu, FP_MUL(y, thes->mu)- FP_MUL(alpha, alpha_koeff));
+               
+               //if (vec2_dot())
+               
+               *dir = 1;
+               
+               volatile int32fp curvature_threshold = 5*256;
+               if (curvature > curvature_threshold) {
+                       curvature = curvature_threshold;
+               } 
+               if (curvature < -curvature_threshold) {
+                       curvature = -curvature_threshold;
+               }
+               return curvature;
+       }
+       return 0;
+}
+
+int32fp my_abs(int32fp a) {
+       if (a < 0) {
+               return -a;
+       }
+       return a;
+}
+
+int8_t should_rotate(Theseus *thes) {
+       if (thes->target_reached == 0) {
+               vec2 position = vec2_new(thes->lp_x.filtered_value >> (15-FIXED_POINT), thes->lp_y.filtered_value >> (15-FIXED_POINT));
+               vec2 diff = vec2_sub(thes->target, position);
+               vec2 dir_rot;
+               dir_rot.x = thes->direction.y;  // Rotate 90 clockwise
+               dir_rot.y = -thes->direction.x;
+               int32fp dn = vec2_dot(diff, dir_rot);
+               int32fp dt = vec2_dot(diff, thes->direction);
+               
+               if (my_abs(dn) > FP_MUL(thes->turn_threshold, dt)) {
+                       if (dn > 0) {
+                               return -1; // Turn clockwise
+                       } else {
+                               return 1; // Turn counter clockwise
+                       }
+               }
+       }
+       
+       return 0;
+}
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/purepursuit.h b/hardcopy/styrmodul/Styrmodul/purepursuit.h
new file mode 100644 (file)
index 0000000..67c1e0e
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/purepursuit.h
@@ -0,0 +1,43 @@
+#pragma once
+
+#include "vector.h"
+#include "lowpass.h"
+
+#define CIRC_BUFFER_POW 5
+#define CIRC_BUFFER_SIZE (2<<CIRC_BUFFER_POW)
+
+// Lookahead distance
+extern const int32fp PP_DIST_SQUARED;
+
+// Distance used to determine if we have reached the last point in the queue.
+#define PP_DIST_END_SQUARED ((4/100*256) * (4/100*256)) // 4 cm
+#define WIDE_TURN_CONE 93 // tan(20)*256
+#define NARROW_TURN_CONE 45 // tan(10)*256
+
+typedef struct Theseus {
+       LowPass lp_x; // Contains a 15 bit fixed point
+       LowPass lp_y; // Contains a 15 bit fixed point
+       LowPass lp_angle; // Contains a 15 bit fixed point
+       vec2 direction;
+       int16fp speed;
+       vec2 target;
+       int16_t target_angle;
+       int32fp mu;
+       int32fp l;
+       int8_t target_reached;
+       int16fp turn_threshold; // sin(angle) it will go to without rotating on spot.
+       int8_t is_rotating;
+} Theseus;
+
+Theseus theseus_new();
+void theseus_update(Theseus *thes, int32fp movement_forward, int16fp delta_angle);
+void theseus_set_target_point(Theseus *thes, vec2 target);
+void theseus_set_position(Theseus *thes, int16fp x, int16fp y);
+void theseus_set_angle(Theseus *thes, int16_t angle);
+
+void theseus_nudge_pos(Theseus *thes, int32fp x, int32fp y);
+void theseus_nudge_angle(Theseus *thes, int16_t angle);
+
+int32fp pure_pursuit(Theseus *thes, int8_t *direction);
+int32fp lq_following(Theseus *thes, int8_t *dir);
+int8_t should_rotate(Theseus *thes);

diff --git a/hardcopy/styrmodul/Styrmodul/trig_lookup.c b/hardcopy/styrmodul/Styrmodul/trig_lookup.c
new file mode 100644 (file)
index 0000000..b6a8de7
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/trig_lookup.c
@@ -0,0 +1,4 @@
+#include "vector.h"
+
+const int16fp sin_table[360] = {0,4,8,13,17,22,26,31,35,40,44,48,53,57,61,66,70,74,79,83,87,91,95,100,104,108,112,116,120,124,127,131,135,139,143,146,150,154,157,161,164,167,171,174,177,181,184,187,190,193,196,198,201,204,207,209,212,214,217,219,221,223,226,228,230,232,233,235,237,238,240,242,243,244,246,247,248,249,250,251,252,252,253,254,254,255,255,255,255,255,256,255,255,255,255,255,254,254,253,252,252,251,250,249,248,247,246,244,243,242,240,238,237,235,233,232,230,228,226,223,221,219,217,214,212,209,207,204,201,198,196,193,190,187,184,181,177,174,171,167,164,161,157,154,150,146,143,139,135,131,127,124,120,116,112,108,104,100,95,91,87,83,79,74,70,66,61,57,53,48,44,40,35,31,26,22,17,13,8,4,0,-4,-8,-13,-17,-22,-26,-31,-35,-40,-44,-48,-53,-57,-61,-66,-70,-74,-79,-83,-87,-91,-95,-100,-104,-108,-112,-116,-120,-124,-128,-131,-135,-139,-143,-146,-150,-154,-157,-161,-164,-167,-171,-174,-177,-181,-184,-187,-190,-193,-196,-198,-201,-204,-207,-209,-212,-214,-217,-219,-221,-223,-226,-228,-230,-232,-233,-235,-237,-238,-240,-242,-243,-244,-246,-247,-248,-249,-250,-251,-252,-252,-253,-254,-254,-255,-255,-255,-255,-255,-256,-255,-255,-255,-255,-255,-254,-254,-253,-252,-252,-251,-250,-249,-248,-247,-246,-244,-243,-242,-240,-238,-237,-235,-233,-232,-230,-228,-226,-223,-221,-219,-217,-214,-212,-209,-207,-204,-201,-198,-196,-193,-190,-187,-184,-181,-177,-174,-171,-167,-164,-161,-157,-154,-150,-146,-143,-139,-135,-131,-128,-124,-120,-116,-112,-108,-104,-100,-95,-91,-87,-83,-79,-74,-70,-66,-61,-57,-53,-48,-44,-40,-35,-31,-26,-22,-17,-13,-8,-4};
+const int16fp cos_table[360] = {256,255,255,255,255,255,254,254,253,252,252,251,250,249,248,247,246,244,243,242,240,238,237,235,233,232,230,228,226,223,221,219,217,214,212,209,207,204,201,198,196,193,190,187,184,181,177,174,171,167,164,161,157,154,150,146,143,139,135,131,128,124,120,116,112,108,104,100,95,91,87,83,79,74,70,66,61,57,53,48,44,40,35,31,26,22,17,13,8,4,0,-4,-8,-13,-17,-22,-26,-31,-35,-40,-44,-48,-53,-57,-61,-66,-70,-74,-79,-83,-87,-91,-95,-100,-104,-108,-112,-116,-120,-124,-127,-131,-135,-139,-143,-146,-150,-154,-157,-161,-164,-167,-171,-174,-177,-181,-184,-187,-190,-193,-196,-198,-201,-204,-207,-209,-212,-214,-217,-219,-221,-223,-226,-228,-230,-232,-233,-235,-237,-238,-240,-242,-243,-244,-246,-247,-248,-249,-250,-251,-252,-252,-253,-254,-254,-255,-255,-255,-255,-255,-256,-255,-255,-255,-255,-255,-254,-254,-253,-252,-252,-251,-250,-249,-248,-247,-246,-244,-243,-242,-240,-238,-237,-235,-233,-232,-230,-228,-226,-223,-221,-219,-217,-214,-212,-209,-207,-204,-201,-198,-196,-193,-190,-187,-184,-181,-177,-174,-171,-167,-164,-161,-157,-154,-150,-146,-143,-139,-135,-131,-128,-124,-120,-116,-112,-108,-104,-100,-95,-91,-87,-83,-79,-74,-70,-66,-61,-57,-53,-48,-44,-40,-35,-31,-26,-22,-17,-13,-8,-4,0,4,8,13,17,22,26,31,35,40,44,48,53,57,61,66,70,74,79,83,87,91,95,100,104,108,112,116,120,124,128,131,135,139,143,146,150,154,157,161,164,167,171,174,177,181,184,187,190,193,196,198,201,204,207,209,212,214,217,219,221,223,226,228,230,232,233,235,237,238,240,242,243,244,246,247,248,249,250,251,252,252,253,254,254,255,255,255,255,255};

diff --git a/hardcopy/styrmodul/Styrmodul/uart.c b/hardcopy/styrmodul/Styrmodul/uart.c
new file mode 100644 (file)
index 0000000..415c073
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/uart.c
@@ -0,0 +1,1589 @@
+/*
+ * uart.c
+ *
+ * Created: 2024-04-02 09:27:32
+ *  Author: nilfo359
+ */ 
+/*************************************************************************
+
+       Title:    Interrupt UART library with receive/transmit circular buffers
+       Author:   Andy Gock
+       Software: AVR-GCC 4.1, AVR Libc 1.4
+       Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
+       License:  GNU General Public License
+       Usage:    see README.md and Doxygen manual
+
+       Based on original library by Peter Fluery, Tim Sharpe, Nicholas Zambetti.
+
+       https://github.com/andygock/avr-uart
+
+       Updated UART library (this one) by Andy Gock
+       https://github.com/andygock/avr-uart
+
+       Based on updated UART library (this one) by Tim Sharpe
+       http://beaststwo.org/avr-uart/index.shtml
+
+       Based on original library by Peter Fluery
+       http://www.peterfleury.epizy.com/avr-software.html
+
+*************************************************************************/
+
+/*************************************************************************
+
+LICENSE:
+       Copyright (C) 2012 Andy Gock
+       Copyright (C) 2006 Peter Fleury
+
+       This program is free software; you can redistribute it and/or modify
+       it under the terms of the GNU General Public License as published by
+       the Free Software Foundation; either version 2 of the License, or
+       any later version.
+
+       This program is distributed in the hope that it will be useful,
+       but WITHOUT ANY WARRANTY; without even the implied warranty of
+       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+       GNU General Public License for more details.
+
+*************************************************************************/
+
+/************************************************************************
+uart_available, uart_flush, uart1_available, and uart1_flush functions
+were adapted from the Arduino HardwareSerial.h library by Tim Sharpe on
+11 Jan 2009.  The license info for HardwareSerial.h is as follows:
+
+  HardwareSerial.cpp - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  Modified 23 November 2006 by David A. Mellis
+************************************************************************/
+
+/************************************************************************
+Changelog for modifications made by Tim Sharpe, starting with the current
+  library version on his Web site as of 05/01/2009.
+
+Date        Description
+=========================================================================
+05/11/2009  Changed all existing UARTx_RECEIVE_INTERRUPT and UARTx_TRANSMIT_INTERRUPT
+                       macros to use the "_vect" format introduced in AVR-Libc
+                       v1.4.0.  Had to split the 3290 and 6490 out of their existing
+                       macro due to an inconsistency in the UART0_RECEIVE_INTERRUPT
+                       vector name (seems like a typo: USART_RX_vect for the 3290/6490
+                       vice USART0_RX_vect for the others in the macro).
+                       Verified all existing macro register names against the device
+                       header files in AVR-Libc v1.6.6 to catch any inconsistencies.
+05/12/2009  Added support for 48P, 88P, 168P, and 328P by adding them to the
+                       existing 48/88/168 macro.
+                       Added Arduino-style available() and flush() functions for both
+                       supported UARTs.  Really wanted to keep them out of the library, so
+                       that it would be as close as possible to Peter Fleury's original
+                       library, but has scoping issues accessing internal variables from
+                       another program.  Go C!
+05/13/2009  Changed Interrupt Service Routine label from the old "SIGNAL" to
+                       the "ISR" format introduced in AVR-Libc v1.4.0.
+
+************************************************************************/
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#include <util/atomic.h>
+#include "uart.h"
+
+/*
+ *  constants and macros
+ */
+
+/* size of RX/TX buffers */
+#define UART_RX0_BUFFER_MASK (UART_RX0_BUFFER_SIZE - 1)
+#define UART_RX1_BUFFER_MASK (UART_RX1_BUFFER_SIZE - 1)
+#define UART_RX2_BUFFER_MASK (UART_RX2_BUFFER_SIZE - 1)
+#define UART_RX3_BUFFER_MASK (UART_RX3_BUFFER_SIZE - 1)
+
+#define UART_TX0_BUFFER_MASK (UART_TX0_BUFFER_SIZE - 1)
+#define UART_TX1_BUFFER_MASK (UART_TX1_BUFFER_SIZE - 1)
+#define UART_TX2_BUFFER_MASK (UART_TX2_BUFFER_SIZE - 1)
+#define UART_TX3_BUFFER_MASK (UART_TX3_BUFFER_SIZE - 1)
+
+#if (UART_RX0_BUFFER_SIZE & UART_RX0_BUFFER_MASK)
+       #error RX0 buffer size is not a power of 2
+#endif
+#if (UART_TX0_BUFFER_SIZE & UART_TX0_BUFFER_MASK)
+       #error TX0 buffer size is not a power of 2
+#endif
+
+#if (UART_RX1_BUFFER_SIZE & UART_RX1_BUFFER_MASK)
+       #error RX1 buffer size is not a power of 2
+#endif
+#if (UART_TX1_BUFFER_SIZE & UART_TX1_BUFFER_MASK)
+       #error TX1 buffer size is not a power of 2
+#endif
+
+#if (UART_RX2_BUFFER_SIZE & UART_RX2_BUFFER_MASK)
+       #error RX2 buffer size is not a power of 2
+#endif
+#if (UART_TX2_BUFFER_SIZE & UART_TX2_BUFFER_MASK)
+       #error TX2 buffer size is not a power of 2
+#endif
+
+#if (UART_RX3_BUFFER_SIZE & UART_RX3_BUFFER_MASK)
+       #error RX3 buffer size is not a power of 2
+#endif
+#if (UART_TX3_BUFFER_SIZE & UART_TX3_BUFFER_MASK)
+       #error TX3 buffer size is not a power of 2
+#endif
+
+#if defined(__AVR_AT90S2313__) \
+ || defined(__AVR_AT90S4414__) \
+ || defined(__AVR_AT90S4434__) \
+ || defined(__AVR_AT90S8515__) \
+ || defined(__AVR_AT90S8535__) \
+ || defined(__AVR_ATmega103__)
+       /* old AVR classic or ATmega103 with one UART */
+       #define AT90_UART
+       #define UART0_RECEIVE_INTERRUPT   UART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  UART_UDRE_vect
+       #define UART0_STATUS   USR
+       #define UART0_CONTROL  UCR
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_AT90S2333__) \
+   || defined(__AVR_AT90S4433__)
+       /* old AVR classic with one UART */
+       #define AT90_UART
+       #define UART0_RECEIVE_INTERRUPT   UART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  UART_UDRE_vect
+       #define UART0_STATUS   UCSRA
+       #define UART0_CONTROL  UCSRB
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega8__) \
+   || defined(__AVR_ATmega16__) \
+   || defined(__AVR_ATmega32__) \
+   || defined(__AVR_ATmega323__)
+       /* ATmega with one USART */
+       #define ATMEGA_USART
+       #define UART0_RECEIVE_INTERRUPT   USART_RXC_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+       #define UART0_STATUS   UCSRA
+       #define UART0_CONTROL  UCSRB
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega8U2__) \
+   || defined(__AVR_ATmega16U2__) \
+   || defined(__AVR_ATmega16U4__) \
+   || defined(__AVR_ATmega32U2__) \
+   || defined(__AVR_ATmega32U4__) \
+   || defined(__AVR_ATmega32U6__)
+       /* ATmega with one USART, but is called USART1 (untested) */
+       #define ATMEGA_USART1
+       #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+       #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+       #define UART1_STATUS   UCSR1A
+       #define UART1_CONTROL  UCSR1B
+       #define UART1_DATA     UDR1
+       #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega8515__) \
+   || defined(__AVR_ATmega8535__)
+       /* ATmega with one USART */
+       #define ATMEGA_USART
+       #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+       #define UART0_STATUS   UCSRA
+       #define UART0_CONTROL  UCSRB
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega163__)
+       /* ATmega163 with one UART */
+       #define ATMEGA_UART
+       #define UART0_RECEIVE_INTERRUPT   UART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  UART_UDRE_vect
+       #define UART0_STATUS   UCSRA
+       #define UART0_CONTROL  UCSRB
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega162__)
+       /* ATmega with two USART */
+       #define ATMEGA_USART0
+       #define ATMEGA_USART1
+       #define UART0_RECEIVE_INTERRUPT   USART0_RXC_vect
+       #define UART1_RECEIVE_INTERRUPT   USART1_RXC_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+       #define UART1_STATUS   UCSR1A
+       #define UART1_CONTROL  UCSR1B
+       #define UART1_DATA     UDR1
+       #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega64__) \
+   || defined(__AVR_ATmega128__)
+       /* ATmega with two USART */
+       #define ATMEGA_USART0
+       #define ATMEGA_USART1
+       #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+       #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+       #define UART1_STATUS   UCSR1A
+       #define UART1_CONTROL  UCSR1B
+       #define UART1_DATA     UDR1
+       #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATmega161__)
+       /* ATmega with UART */
+       #error "AVR ATmega161 currently not supported by this libaray !"
+#elif defined(__AVR_ATmega169__)
+       /* ATmega with one USART */
+       #define ATMEGA_USART
+       #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART0_STATUS   UCSRA
+       #define UART0_CONTROL  UCSRB
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega48__) \
+   || defined(__AVR_ATmega88__) \
+   || defined(__AVR_ATmega168__) \
+   || defined(__AVR_ATmega48P__) \
+   || defined(__AVR_ATmega88P__) \
+   || defined(__AVR_ATmega168P__) \
+   || defined(__AVR_ATmega328P__)
+       /* TLS-Added 48P/88P/168P/328P */
+       /* ATmega with one USART */
+       #define ATMEGA_USART0
+       #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATtiny2313__) \
+   || defined(__AVR_ATtiny2313A__) \
+   || defined(__AVR_ATtiny4313__)
+       #define ATMEGA_USART
+       #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART_UDRE_vect
+       #define UART0_STATUS   UCSRA
+       #define UART0_CONTROL  UCSRB
+       #define UART0_DATA     UDR
+       #define UART0_UDRIE    UDRIE
+#elif defined(__AVR_ATmega329__) \
+   || defined(__AVR_ATmega649__) \
+   || defined(__AVR_ATmega325__) \
+   || defined(__AVR_ATmega3250__) \
+   || defined(__AVR_ATmega645__) \
+   || defined(__AVR_ATmega6450__)
+       /* ATmega with one USART */
+       #define ATMEGA_USART0
+       #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega3290__) \
+   || defined(__AVR_ATmega6490__)
+       /* TLS-Separated these two from the previous group because of inconsistency in the USART_RX */
+       /* ATmega with one USART */
+       #define ATMEGA_USART0
+       #define UART0_RECEIVE_INTERRUPT   USART_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega2560__) \
+   || defined(__AVR_ATmega1280__) \
+        || defined(__AVR_ATmega640__)
+       /* ATmega with four USART */
+       #define ATMEGA_USART0
+       #define ATMEGA_USART1
+       #define ATMEGA_USART2
+       #define ATMEGA_USART3
+       #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+       #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+       #define UART2_RECEIVE_INTERRUPT   USART2_RX_vect
+       #define UART3_RECEIVE_INTERRUPT   USART3_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+       #define UART2_TRANSMIT_INTERRUPT  USART2_UDRE_vect
+       #define UART3_TRANSMIT_INTERRUPT  USART3_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+       #define UART1_STATUS   UCSR1A
+       #define UART1_CONTROL  UCSR1B
+       #define UART1_DATA     UDR1
+       #define UART1_UDRIE    UDRIE1
+       #define UART2_STATUS   UCSR2A
+       #define UART2_CONTROL  UCSR2B
+       #define UART2_DATA     UDR2
+       #define UART2_UDRIE    UDRIE2
+       #define UART3_STATUS   UCSR3A
+       #define UART3_CONTROL  UCSR3B
+       #define UART3_DATA     UDR3
+       #define UART3_UDRIE    UDRIE3
+#elif defined(__AVR_ATmega644__)
+       /* ATmega with one USART */
+       #define ATMEGA_USART0
+       #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+#elif defined(__AVR_ATmega164P__) \
+   || defined(__AVR_ATmega324P__) \
+   || defined(__AVR_ATmega644P__) \
+   || defined(__AVR_ATmega644PA__) \
+   || defined(__AVR_ATmega1284P__)
+       /* ATmega with two USART */
+       #define ATMEGA_USART0
+       #define ATMEGA_USART1
+       #define UART0_RECEIVE_INTERRUPT   USART0_RX_vect
+       #define UART1_RECEIVE_INTERRUPT   USART1_RX_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_UDRE_vect
+       #define UART1_TRANSMIT_INTERRUPT  USART1_UDRE_vect
+       #define UART0_STATUS   UCSR0A
+       #define UART0_CONTROL  UCSR0B
+       #define UART0_DATA     UDR0
+       #define UART0_UDRIE    UDRIE0
+       #define UART1_STATUS   UCSR1A
+       #define UART1_CONTROL  UCSR1B
+       #define UART1_DATA     UDR1
+       #define UART1_UDRIE    UDRIE1
+#elif defined(__AVR_ATtiny814__)
+  /* AVR-1 with USART */
+       #define AVR1_USART0
+       #define UART0_RECEIVE_INTERRUPT   USART0_RXC_vect
+       #define UART0_TRANSMIT_INTERRUPT  USART0_DRE_vect
+  #define USART0_BAUD_RATE(_br_)    (uint16_t)((float)(F_CPU * 64 / (16 * (float)(_br_)) + 0.5))
+  //   #error "AVR ATtiny814 currently not supported by this libaray !"
+#else
+       #error "no UART definition for MCU available"
+#endif
+
+/*
+ *  Module global variables
+ */
+
+#if defined(USART0_ENABLED)
+    #if defined(ATMEGA_USART) || defined(ATMEGA_USART0) || defined(AVR1_USART0) || defined(AT90_UART)
+               static volatile uint8_t UART_TxBuf[UART_TX0_BUFFER_SIZE];
+               static volatile uint8_t UART_RxBuf[UART_RX0_BUFFER_SIZE];
+
+               #if defined(USART0_LARGE_BUFFER)
+                       static volatile uint16_t UART_TxHead;
+                       static volatile uint16_t UART_TxTail;
+                       static volatile uint16_t UART_RxHead;
+                       static volatile uint16_t UART_RxTail;
+                       static volatile uint8_t UART_LastRxError;
+               #else
+                       static volatile uint8_t UART_TxHead;
+                       static volatile uint8_t UART_TxTail;
+                       static volatile uint8_t UART_RxHead;
+                       static volatile uint8_t UART_RxTail;
+                       static volatile uint8_t UART_LastRxError;
+               #endif
+
+       #endif
+#endif
+
+#if defined(USART1_ENABLED)
+       #if defined(ATMEGA_USART1)
+               static volatile uint8_t UART1_TxBuf[UART_TX1_BUFFER_SIZE];
+               static volatile uint8_t UART1_RxBuf[UART_RX1_BUFFER_SIZE];
+
+               #if defined(USART1_LARGE_BUFFER)
+                       static volatile uint16_t UART1_TxHead;
+                       static volatile uint16_t UART1_TxTail;
+                       static volatile uint16_t UART1_RxHead;
+                       static volatile uint16_t UART1_RxTail;
+                       static volatile uint8_t UART1_LastRxError;
+               #else
+                       static volatile uint8_t UART1_TxHead;
+                       static volatile uint8_t UART1_TxTail;
+                       static volatile uint8_t UART1_RxHead;
+                       static volatile uint8_t UART1_RxTail;
+                       static volatile uint8_t UART1_LastRxError;
+               #endif
+       #endif
+#endif
+
+#if defined(USART2_ENABLED)
+       #if defined(ATMEGA_USART2)
+               static volatile uint8_t UART2_TxBuf[UART_TX2_BUFFER_SIZE];
+               static volatile uint8_t UART2_RxBuf[UART_RX2_BUFFER_SIZE];
+
+               #if defined(USART2_LARGE_BUFFER)
+                       static volatile uint16_t UART2_TxHead;
+                       static volatile uint16_t UART2_TxTail;
+                       static volatile uint16_t UART2_RxHead;
+                       static volatile uint16_t UART2_RxTail;
+                       static volatile uint8_t UART2_LastRxError;
+               #else
+                       static volatile uint8_t UART2_TxHead;
+                       static volatile uint8_t UART2_TxTail;
+                       static volatile uint8_t UART2_RxHead;
+                       static volatile uint8_t UART2_RxTail;
+                       static volatile uint8_t UART2_LastRxError;
+               #endif
+       #endif
+#endif
+
+#if defined(USART3_ENABLED)
+       #if defined(ATMEGA_USART3)
+               static volatile uint8_t UART3_TxBuf[UART_TX3_BUFFER_SIZE];
+               static volatile uint8_t UART3_RxBuf[UART_RX3_BUFFER_SIZE];
+
+               #if defined(USART3_LARGE_BUFFER)
+                       static volatile uint16_t UART3_TxHead;
+                       static volatile uint16_t UART3_TxTail;
+                       static volatile uint16_t UART3_RxHead;
+                       static volatile uint16_t UART3_RxTail;
+                       static volatile uint8_t UART3_LastRxError;
+               #else
+                       static volatile uint8_t UART3_TxHead;
+                       static volatile uint8_t UART3_TxTail;
+                       static volatile uint8_t UART3_RxHead;
+                       static volatile uint8_t UART3_RxTail;
+                       static volatile uint8_t UART3_LastRxError;
+               #endif
+
+       #endif
+#endif
+
+#if defined(USART0_ENABLED)
+
+#if defined(AT90_UART) || defined(ATMEGA_USART) || defined(ATMEGA_USART0)  || defined(AVR1_USART0)
+
+ISR(UART0_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART Receive Complete interrupt
+Purpose:  called when the UART has received a character
+**************************************************************************/
+{
+    uint16_t tmphead;
+    uint8_t data;
+    uint8_t usr;
+    uint8_t lastRxError;
+
+    /* read UART status register and UART data register */
+#if defined(AVR1_USART0)
+    usr  = USART0_RXDATAH;
+    data = USART0.RXDATAL;
+#else
+    usr  = UART0_STATUS;
+    data = UART0_DATA;
+#endif
+
+    /* */
+#if defined(AT90_UART)
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)));
+#elif defined(ATMEGA_USART)
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)));
+#elif defined(ATMEGA_USART0)
+    lastRxError = (usr & (_BV(FE0)|_BV(DOR0)));
+#elif defined(ATMEGA_UART)
+    lastRxError = (usr & (_BV(FE)|_BV(DOR)));
+#elif defined(AVR1_USART0)
+    lastRxError = (usr & (USART_BUFOVF_bm | USART_FERR_bm | USART_PERR_bm));
+#endif
+
+    /* calculate buffer index */
+    tmphead = (UART_RxHead + 1) & UART_RX0_BUFFER_MASK;
+
+    if (tmphead == UART_RxTail) {
+        /* error: receive buffer overflow */
+        lastRxError = UART_BUFFER_OVERFLOW >> 8;
+    } else {
+        /* store new index */
+        UART_RxHead = tmphead;
+        /* store received data in buffer */
+        UART_RxBuf[tmphead] = data;
+    }
+    UART_LastRxError = lastRxError;
+}
+
+
+ISR(UART0_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART Data Register Empty interrupt
+Purpose:  called when the UART is ready to transmit the next byte
+**************************************************************************/
+{
+    uint16_t tmptail;
+
+    if (UART_TxHead != UART_TxTail) {
+        /* calculate and store new buffer index */
+        tmptail = (UART_TxTail + 1) & UART_TX0_BUFFER_MASK;
+        UART_TxTail = tmptail;
+        /* get one byte from buffer and write it to UART */
+#if defined(AVR1_USART0)
+        USART0_TXDATAL = UART_TxBuf[tmptail];  /* start transmission */
+#else
+        UART0_DATA = UART_TxBuf[tmptail];  /* start transmission */
+#endif
+    } else {
+        /* tx buffer empty, disable UDRE interrupt */
+#if defined(AVR1_USART0)
+        USART0_CTRLA &= ~USART_DREIE_bm;
+#else
+        UART0_CONTROL &= ~_BV(UART0_UDRIE);
+#endif
+    }
+}
+
+
+/*************************************************************************
+Function: uart0_init()
+Purpose:  initialize UART and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+#if defined(AVR1_USART0)
+void uart0_init(uint32_t baudrate)
+#else
+void uart0_init(uint16_t baudrate)
+#endif
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART_TxHead = 0;
+               UART_TxTail = 0;
+               UART_RxHead = 0;
+               UART_RxTail = 0;
+       }
+
+#if defined(AT90_UART)
+       /* set baud rate */
+       UBRR = (uint8_t) baudrate;
+
+       /* enable UART receiver and transmitter and receive complete interrupt */
+       UART0_CONTROL = _BV(RXCIE)|_BV(RXEN)|_BV(TXEN);
+
+#elif defined(ATMEGA_USART)
+       /* Set baud rate */
+       if (baudrate & 0x8000) {
+               UART0_STATUS = (1<<U2X);  //Enable 2x speed
+               baudrate &= ~0x8000;
+       }
+       UBRRH = (uint8_t) (baudrate>>8);
+       UBRRL = (uint8_t) baudrate;
+
+       /* Enable USART receiver and transmitter and receive complete interrupt */
+       UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
+
+       /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+#ifdef URSEL
+       UCSRC = (1<<URSEL)|(3<<UCSZ0);
+#else
+       UCSRC = (3<<UCSZ0);
+#endif
+
+#elif defined(ATMEGA_USART0)
+       /* Set baud rate */
+       if (baudrate & 0x8000) {
+               UART0_STATUS = (1<<U2X0);  //Enable 2x speed
+               baudrate &= ~0x8000;
+       }
+       UBRR0H = (uint8_t)(baudrate>>8);
+       UBRR0L = (uint8_t) baudrate;
+
+       /* Enable USART receiver and transmitter and receive complete interrupt */
+       UART0_CONTROL = _BV(RXCIE0)|(1<<RXEN0)|(1<<TXEN0);
+
+       /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+#ifdef URSEL0
+       UCSR0C = (1<<URSEL0)|(3<<UCSZ00);
+#else
+       UCSR0C = (3<<UCSZ00);
+#endif
+
+#elif defined(ATMEGA_UART)
+       /* set baud rate */
+       if (baudrate & 0x8000) {
+               UART0_STATUS = (1<<U2X);  //Enable 2x speed
+               baudrate &= ~0x8000;
+       }
+       UBRRHI = (uint8_t) (baudrate>>8);
+       UBRR   = (uint8_t) baudrate;
+
+       /* Enable UART receiver and transmitter and receive complete interrupt */
+       UART0_CONTROL = _BV(RXCIE)|(1<<RXEN)|(1<<TXEN);
+
+#elif defined(AVR1_USART0)
+    // set the baud rate
+    USART0.BAUD = USART0_BAUD_RATE(baudrate);
+
+    USART0.CTRLA = USART_RXCIE_bm;
+    USART0.CTRLB = USART_TXEN_bm | USART_RXEN_bm | USART_RXMODE_NORMAL_gc;
+    // Default configuration of CTRLC is 8N1 in asynchronous mode
+#endif
+
+} /* uart0_init */
+
+
+/*************************************************************************
+Function: uart0_getc()
+Purpose:  return byte from ringbuffer
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart0_getc(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART_RxHead == UART_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       /* calculate / store buffer index */
+       tmptail = (UART_RxTail + 1) & UART_RX0_BUFFER_MASK;
+
+       UART_RxTail = tmptail;
+
+       /* get data from receive buffer */
+       data = UART_RxBuf[tmptail];
+
+       return (UART_LastRxError << 8) + data;
+
+} /* uart0_getc */
+
+/*************************************************************************
+Function: uart0_peek()
+Purpose:  Returns the next byte (character) of incoming UART data without
+          removing it from the ring buffer. That is, successive calls to
+                 uartN_peek() will return the same character, as will the next
+                 call to uartN_getc()
+Returns:  lower byte:  next byte in ring buffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart0_peek(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART_RxHead == UART_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       tmptail = (UART_RxTail + 1) & UART_RX0_BUFFER_MASK;
+
+       /* get data from receive buffer */
+       data = UART_RxBuf[tmptail];
+
+       return (UART_LastRxError << 8) + data;
+
+} /* uart0_peek */
+
+/*************************************************************************
+Function: uart0_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none
+**************************************************************************/
+void uart0_putc(uint8_t data)
+{
+
+#ifdef USART0_LARGE_BUFFER
+       uint16_t tmphead;
+       uint16_t txtail_tmp;
+
+       tmphead = (UART_TxHead + 1) & UART_TX0_BUFFER_MASK;
+
+       do {
+               ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+                       txtail_tmp = UART_TxTail;
+               }
+       } while (tmphead == txtail_tmp); /* wait for free space in buffer */
+#else
+       uint16_t tmphead;
+
+       tmphead = (UART_TxHead + 1) & UART_TX0_BUFFER_MASK;
+
+       while (tmphead == UART_TxTail); /* wait for free space in buffer */
+#endif
+
+       UART_TxBuf[tmphead] = data;
+       UART_TxHead = tmphead;
+
+       /* enable UDRE interrupt */
+#if defined(AVR1_USART0)
+    USART0_CTRLA |= USART_DREIE_bm;
+#else
+       UART0_CONTROL |= _BV(UART0_UDRIE);
+#endif
+
+} /* uart0_putc */
+
+
+/*************************************************************************
+Function: uart0_puts()
+Purpose:  transmit string to UART
+Input:    string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart0_puts(const char *s)
+{
+       while (*s) {
+               uart0_putc(*s++);
+       }
+
+} /* uart0_puts */
+
+
+/*************************************************************************
+Function: uart0_puts_p()
+Purpose:  transmit string from program memory to UART
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart0_puts_p(const char *progmem_s)
+{
+       register char c;
+
+       while ((c = pgm_read_byte(progmem_s++))) {
+               uart0_putc(c);
+       }
+
+} /* uart0_puts_p */
+
+
+
+/*************************************************************************
+Function: uart0_available()
+Purpose:  Determine the number of bytes waiting in the receive buffer
+Input:    None
+Returns:  Integer number of bytes in the receive buffer
+**************************************************************************/
+uint16_t uart0_available(void)
+{
+       uint16_t ret;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               ret = (UART_RX0_BUFFER_SIZE + UART_RxHead - UART_RxTail) & UART_RX0_BUFFER_MASK;
+       }
+       return ret;
+} /* uart0_available */
+
+/*************************************************************************
+Function: uart0_flush()
+Purpose:  Flush bytes waiting the receive buffer. Actually ignores them.
+Input:    None
+Returns:  None
+**************************************************************************/
+void uart0_flush(void)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART_RxHead = UART_RxTail;
+       }
+} /* uart0_flush */
+
+#endif
+
+#endif /* defined(USART0_ENABLED) */
+
+#if defined(USART1_ENABLED)
+
+/*
+ * these functions are only for ATmegas with two USART
+ */
+#if defined(ATMEGA_USART1)
+
+ISR(UART1_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART1 Receive Complete interrupt
+Purpose:  called when the UART1 has received a character
+**************************************************************************/
+{
+       uint16_t tmphead;
+       uint8_t data;
+       uint8_t usr;
+       uint8_t lastRxError;
+
+       /* read UART status register and UART data register */
+       usr  = UART1_STATUS;
+       data = UART1_DATA;
+
+       /* */
+       lastRxError = (usr & (_BV(FE1)|_BV(DOR1)));
+
+       /* calculate buffer index */
+       tmphead = (UART1_RxHead + 1) & UART_RX1_BUFFER_MASK;
+
+       if (tmphead == UART1_RxTail) {
+               /* error: receive buffer overflow */
+               lastRxError = UART_BUFFER_OVERFLOW >> 8;
+       } else {
+               /* store new index */
+               UART1_RxHead = tmphead;
+               /* store received data in buffer */
+               UART1_RxBuf[tmphead] = data;
+       }
+       UART1_LastRxError = lastRxError;
+}
+
+
+ISR(UART1_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART1 Data Register Empty interrupt
+Purpose:  called when the UART1 is ready to transmit the next byte
+**************************************************************************/
+{
+       uint16_t tmptail;
+
+       if (UART1_TxHead != UART1_TxTail) {
+               /* calculate and store new buffer index */
+               tmptail = (UART1_TxTail + 1) & UART_TX1_BUFFER_MASK;
+               UART1_TxTail = tmptail;
+               /* get one byte from buffer and write it to UART */
+               UART1_DATA = UART1_TxBuf[tmptail];  /* start transmission */
+       } else {
+               /* tx buffer empty, disable UDRE interrupt */
+               UART1_CONTROL &= ~_BV(UART1_UDRIE);
+       }
+}
+
+
+/*************************************************************************
+Function: uart1_init()
+Purpose:  initialize UART1 and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart1_init(uint16_t baudrate)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART1_TxHead = 0;
+               UART1_TxTail = 0;
+               UART1_RxHead = 0;
+               UART1_RxTail = 0;
+       }
+
+       /* Set baud rate */
+       if (baudrate & 0x8000) {
+               UART1_STATUS = (1<<U2X1);  //Enable 2x speed
+               baudrate &= ~0x8000;
+       }
+       UBRR1H = (uint8_t) (baudrate>>8);
+       UBRR1L = (uint8_t) baudrate;
+
+       /* Enable USART receiver and transmitter and receive complete interrupt */
+       UART1_CONTROL = _BV(RXCIE1)|(1<<RXEN1)|(1<<TXEN1);
+
+       /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+#ifdef URSEL1
+       UCSR1C = (1<<URSEL1)|(3<<UCSZ10);
+#else
+       UCSR1C = (3<<UCSZ10);
+#endif
+} /* uart_init */
+
+
+/*************************************************************************
+Function: uart1_getc()
+Purpose:  return byte from ringbuffer
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart1_getc(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART1_RxHead == UART1_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+
+               /* calculate / store buffer index */
+               tmptail = (UART1_RxTail + 1) & UART_RX1_BUFFER_MASK;
+               UART1_RxTail = tmptail;
+       }
+
+       /* get data from receive buffer */
+       data = UART1_RxBuf[tmptail];
+
+       return (UART1_LastRxError << 8) + data;
+
+} /* uart1_getc */
+
+/*************************************************************************
+Function: uart1_peek()
+Purpose:  Returns the next byte (character) of incoming UART data without
+          removing it from the ring buffer. That is, successive calls to
+                 uartN_peek() will return the same character, as will the next
+                 call to uartN_getc()
+Returns:  lower byte:  next byte in ring buffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart1_peek(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART1_RxHead == UART1_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       tmptail = (UART1_RxTail + 1) & UART_RX1_BUFFER_MASK;
+
+       /* get data from receive buffer */
+       data = UART1_RxBuf[tmptail];
+
+       return (UART1_LastRxError << 8) + data;
+
+} /* uart1_peek */
+
+/*************************************************************************
+Function: uart1_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_putc(uint8_t data)
+{
+
+#ifdef USART1_LARGE_BUFFER
+       uint16_t tmphead;
+       uint16_t txtail_tmp;
+
+       tmphead = (UART1_TxHead + 1) & UART_TX1_BUFFER_MASK;
+
+       do {
+               ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+                       txtail_tmp = UART1_TxTail;
+               }
+       } while (tmphead == txtail_tmp); /* wait for free space in buffer */
+#else
+       uint16_t tmphead;
+
+       tmphead = (UART1_TxHead + 1) & UART_TX1_BUFFER_MASK;
+
+       while (tmphead == UART1_TxTail); /* wait for free space in buffer */
+#endif
+
+       UART1_TxBuf[tmphead] = data;
+       UART1_TxHead = tmphead;
+
+       /* enable UDRE interrupt */
+       UART1_CONTROL |= _BV(UART1_UDRIE);
+
+} /* uart1_putc */
+
+
+/*************************************************************************
+Function: uart1_puts()
+Purpose:  transmit string to UART1
+Input:    string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_puts(const char *s)
+{
+       while (*s) {
+               uart1_putc(*s++);
+       }
+
+} /* uart1_puts */
+
+
+/*************************************************************************
+Function: uart1_puts_p()
+Purpose:  transmit string from program memory to UART1
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart1_puts_p(const char *progmem_s)
+{
+       register char c;
+
+       while ((c = pgm_read_byte(progmem_s++))) {
+               uart1_putc(c);
+       }
+
+} /* uart1_puts_p */
+
+
+
+/*************************************************************************
+Function: uart1_available()
+Purpose:  Determine the number of bytes waiting in the receive buffer
+Input:    None
+Returns:  Integer number of bytes in the receive buffer
+**************************************************************************/
+uint16_t uart1_available(void)
+{
+       uint16_t ret;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               ret = (UART_RX1_BUFFER_SIZE + UART1_RxHead - UART1_RxTail) & UART_RX1_BUFFER_MASK;
+       }
+       return ret;
+} /* uart1_available */
+
+
+
+/*************************************************************************
+Function: uart1_flush()
+Purpose:  Flush bytes waiting the receive buffer. Actually ignores them.
+Input:    None
+Returns:  None
+**************************************************************************/
+void uart1_flush(void)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART1_RxHead = UART1_RxTail;
+       }
+} /* uart1_flush */
+
+#endif
+
+#endif /* defined(USART1_ENABLED) */
+
+#if defined(USART2_ENABLED)
+
+/*
+ * these functions are only for ATmegas with four USART
+ */
+#if defined(ATMEGA_USART2)
+
+ISR(UART2_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART2 Receive Complete interrupt
+Purpose:  called when the UART2 has received a character
+**************************************************************************/
+{
+       uint16_t tmphead;
+       uint8_t data;
+       uint8_t usr;
+       uint8_t lastRxError;
+
+
+       /* read UART status register and UART data register */
+       usr  = UART2_STATUS;
+       data = UART2_DATA;
+
+       /* */
+       lastRxError = (usr & (_BV(FE2)|_BV(DOR2)));
+
+       /* calculate buffer index */
+       tmphead = (UART2_RxHead + 1) & UART_RX2_BUFFER_MASK;
+
+       if (tmphead == UART2_RxTail) {
+               /* error: receive buffer overflow */
+               lastRxError = UART_BUFFER_OVERFLOW >> 8;
+       } else {
+               /* store new index */
+               UART2_RxHead = tmphead;
+               /* store received data in buffer */
+               UART2_RxBuf[tmphead] = data;
+       }
+       UART2_LastRxError = lastRxError;
+}
+
+
+ISR(UART2_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART2 Data Register Empty interrupt
+Purpose:  called when the UART2 is ready to transmit the next byte
+**************************************************************************/
+{
+       uint16_t tmptail;
+
+
+       if (UART2_TxHead != UART2_TxTail) {
+               /* calculate and store new buffer index */
+               tmptail = (UART2_TxTail + 1) & UART_TX2_BUFFER_MASK;
+               UART2_TxTail = tmptail;
+               /* get one byte from buffer and write it to UART */
+               UART2_DATA = UART2_TxBuf[tmptail];  /* start transmission */
+       } else {
+               /* tx buffer empty, disable UDRE interrupt */
+               UART2_CONTROL &= ~_BV(UART2_UDRIE);
+       }
+}
+
+
+/*************************************************************************
+Function: uart2_init()
+Purpose:  initialize UART2 and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart2_init(uint16_t baudrate)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART2_TxHead = 0;
+               UART2_TxTail = 0;
+               UART2_RxHead = 0;
+               UART2_RxTail = 0;
+       }
+
+       /* Set baud rate */
+       if (baudrate & 0x8000) {
+               UART2_STATUS = (1<<U2X2);  //Enable 2x speed
+               baudrate &= ~0x8000;
+       }
+       UBRR2H = (uint8_t) (baudrate>>8);
+       UBRR2L = (uint8_t) baudrate;
+
+       /* Enable USART receiver and transmitter and receive complete interrupt */
+       UART2_CONTROL = _BV(RXCIE2)|(1<<RXEN2)|(1<<TXEN2);
+
+       /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+#ifdef URSEL2
+       UCSR2C = (1<<URSEL2)|(3<<UCSZ20);
+#else
+       UCSR2C = (3<<UCSZ20);
+#endif
+} /* uart_init */
+
+
+/*************************************************************************
+Function: uart2_getc()
+Purpose:  return byte from ringbuffer
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart2_getc(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART2_RxHead == UART2_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       /* calculate / store buffer index */
+
+       tmptail = (UART2_RxTail + 1) & UART_RX2_BUFFER_MASK;
+       UART2_RxTail = tmptail;
+
+       /* get data from receive buffer */
+       data = UART2_RxBuf[tmptail];
+
+       return (UART2_LastRxError << 8) + data;
+
+} /* uart2_getc */
+
+/*************************************************************************
+Function: uart2_peek()
+Purpose:  Returns the next byte (character) of incoming UART data without
+          removing it from the ring buffer. That is, successive calls to
+                 uartN_peek() will return the same character, as will the next
+                 call to uartN_getc()
+Returns:  lower byte:  next byte in ring buffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart2_peek(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART2_RxHead == UART2_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       tmptail = (UART2_RxTail + 1) & UART_RX2_BUFFER_MASK;
+
+       /* get data from receive buffer */
+       data = UART2_RxBuf[tmptail];
+
+       return (UART2_LastRxError << 8) + data;
+
+} /* uart2_peek */
+
+/*************************************************************************
+Function: uart2_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none
+**************************************************************************/
+void uart2_putc(uint8_t data)
+{
+
+#ifdef USART2_LARGE_BUFFER
+       uint16_t tmphead;
+       uint16_t txtail_tmp;
+
+       tmphead = (UART2_TxHead + 1) & UART_TX2_BUFFER_MASK;
+
+       do {
+               ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+                       txtail_tmp = UART2_TxTail;
+               }
+       } while (tmphead == txtail_tmp); /* wait for free space in buffer */
+#else
+       uint16_t tmphead;
+
+       tmphead = (UART2_TxHead + 1) & UART_TX2_BUFFER_MASK;
+
+       while (tmphead == UART2_TxTail); /* wait for free space in buffer */
+#endif
+
+       UART2_TxBuf[tmphead] = data;
+       UART2_TxHead = tmphead;
+
+       /* enable UDRE interrupt */
+       UART2_CONTROL |= _BV(UART2_UDRIE);
+
+} /* uart2_putc */
+
+
+/*************************************************************************
+Function: uart2_puts()
+Purpose:  transmit string to UART2
+Input:    string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart2_puts(const char *s)
+{
+       while (*s)
+               uart2_putc(*s++);
+
+} /* uart2_puts */
+
+
+/*************************************************************************
+Function: uart2_puts_p()
+Purpose:  transmit string from program memory to UART2
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart2_puts_p(const char *progmem_s)
+{
+       register char c;
+
+       while ((c = pgm_read_byte(progmem_s++))) {
+               uart2_putc(c);
+       }
+
+} /* uart2_puts_p */
+
+
+
+/*************************************************************************
+Function: uart2_available()
+Purpose:  Determine the number of bytes waiting in the receive buffer
+Input:    None
+Returns:  Integer number of bytes in the receive buffer
+**************************************************************************/
+uint16_t uart2_available(void)
+{
+       uint16_t ret;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               ret = (UART_RX2_BUFFER_SIZE + UART2_RxHead - UART2_RxTail) & UART_RX2_BUFFER_MASK;
+       }
+       return ret;
+} /* uart2_available */
+
+
+
+/*************************************************************************
+Function: uart2_flush()
+Purpose:  Flush bytes waiting the receive buffer. Actually ignores them.
+Input:    None
+Returns:  None
+**************************************************************************/
+void uart2_flush(void)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART2_RxHead = UART2_RxTail;
+       }
+} /* uart2_flush */
+
+#endif
+
+#endif /* defined(USART2_ENABLED) */
+
+#if defined(USART3_ENABLED)
+
+/*
+ * these functions are only for ATmegas with four USART
+ */
+#if defined(ATMEGA_USART3)
+
+ISR(UART3_RECEIVE_INTERRUPT)
+/*************************************************************************
+Function: UART3 Receive Complete interrupt
+Purpose:  called when the UART3 has received a character
+**************************************************************************/
+{
+       uint16_t tmphead;
+       uint8_t data;
+       uint8_t usr;
+       uint8_t lastRxError;
+
+       /* read UART status register and UART data register */
+       usr  = UART3_STATUS;
+       data = UART3_DATA;
+
+       /* */
+       lastRxError = (usr & (_BV(FE3)|_BV(DOR3)));
+
+       /* calculate buffer index */
+       tmphead = (UART3_RxHead + 1) & UART_RX3_BUFFER_MASK;
+
+       if (tmphead == UART3_RxTail) {
+               /* error: receive buffer overflow */
+               lastRxError = UART_BUFFER_OVERFLOW >> 8;
+       } else {
+               /* store new index */
+               UART3_RxHead = tmphead;
+               /* store received data in buffer */
+               UART3_RxBuf[tmphead] = data;
+       }
+       UART3_LastRxError = lastRxError;
+}
+
+
+ISR(UART3_TRANSMIT_INTERRUPT)
+/*************************************************************************
+Function: UART3 Data Register Empty interrupt
+Purpose:  called when the UART3 is ready to transmit the next byte
+**************************************************************************/
+{
+       uint16_t tmptail;
+
+
+       if (UART3_TxHead != UART3_TxTail) {
+               /* calculate and store new buffer index */
+               tmptail = (UART3_TxTail + 1) & UART_TX3_BUFFER_MASK;
+               UART3_TxTail = tmptail;
+               /* get one byte from buffer and write it to UART */
+               UART3_DATA = UART3_TxBuf[tmptail];  /* start transmission */
+       } else {
+               /* tx buffer empty, disable UDRE interrupt */
+               UART3_CONTROL &= ~_BV(UART3_UDRIE);
+       }
+}
+
+
+/*************************************************************************
+Function: uart3_init()
+Purpose:  initialize UART3 and set baudrate
+Input:    baudrate using macro UART_BAUD_SELECT()
+Returns:  none
+**************************************************************************/
+void uart3_init(uint16_t baudrate)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART3_TxHead = 0;
+               UART3_TxTail = 0;
+               UART3_RxHead = 0;
+               UART3_RxTail = 0;
+       }
+
+       /* Set baud rate */
+       if (baudrate & 0x8000) {
+               UART3_STATUS = (1<<U2X3);  //Enable 2x speed
+               baudrate &= ~0x8000;
+       }
+       UBRR3H = (uint8_t)(baudrate>>8);
+       UBRR3L = (uint8_t) baudrate;
+
+       /* Enable USART receiver and transmitter and receive complete interrupt */
+       UART3_CONTROL = _BV(RXCIE3)|(1<<RXEN3)|(1<<TXEN3);
+
+       /* Set frame format: asynchronous, 8data, no parity, 1stop bit */
+#ifdef URSEL3
+       UCSR3C = (1<<URSEL3)|(3<<UCSZ30);
+#else
+       UCSR3C = (3<<UCSZ30);
+#endif
+} /* uart_init */
+
+
+/*************************************************************************
+Function: uart3_getc()
+Purpose:  return byte from ringbuffer
+Returns:  lower byte:  received byte from ringbuffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart3_getc(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART3_RxHead == UART3_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       /* calculate / store buffer index */
+       tmptail = (UART3_RxTail + 1) & UART_RX3_BUFFER_MASK;
+       UART3_RxTail = tmptail;
+
+       /* get data from receive buffer */
+       data = UART3_RxBuf[tmptail];
+
+       return (UART3_LastRxError << 8) + data;
+
+} /* uart3_getc */
+
+/*************************************************************************
+Function: uart3_peek()
+Purpose:  Returns the next byte (character) of incoming UART data without
+          removing it from the ring buffer. That is, successive calls to
+                 uartN_peek() will return the same character, as will the next
+                 call to uartN_getc()
+Returns:  lower byte:  next byte in ring buffer
+          higher byte: last receive error
+**************************************************************************/
+uint16_t uart3_peek(void)
+{
+       uint16_t tmptail;
+       uint8_t data;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               if (UART3_RxHead == UART3_RxTail) {
+                       return UART_NO_DATA;   /* no data available */
+               }
+       }
+
+       tmptail = (UART3_RxTail + 1) & UART_RX3_BUFFER_MASK;
+
+       /* get data from receive buffer */
+       data = UART3_RxBuf[tmptail];
+
+       return (UART3_LastRxError << 8) + data;
+
+} /* uart3_peek */
+
+/*************************************************************************
+Function: uart3_putc()
+Purpose:  write byte to ringbuffer for transmitting via UART
+Input:    byte to be transmitted
+Returns:  none
+**************************************************************************/
+void uart3_putc(uint8_t data)
+{
+
+#ifdef USART3_LARGE_BUFFER
+       uint16_t tmphead;
+       uint16_t txtail_tmp;
+
+       tmphead = (UART3_TxHead + 1) & UART_TX3_BUFFER_MASK;
+
+       do {
+               ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+                       txtail_tmp = UART3_TxTail;
+               }
+       } while (tmphead == txtail_tmp); /* wait for free space in buffer */
+#else
+       uint16_t tmphead;
+
+       tmphead = (UART3_TxHead + 1) & UART_TX3_BUFFER_MASK;
+
+       while (tmphead == UART3_TxTail); /* wait for free space in buffer */
+#endif
+
+       UART3_TxBuf[tmphead] = data;
+       UART3_TxHead = tmphead;
+
+       /* enable UDRE interrupt */
+       UART3_CONTROL |= _BV(UART3_UDRIE);
+
+} /* uart3_putc */
+
+
+/*************************************************************************
+Function: uart3_puts()
+Purpose:  transmit string to UART3
+Input:    string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart3_puts(const char *s)
+{
+       while (*s) {
+               uart3_putc(*s++);
+       }
+
+} /* uart3_puts */
+
+
+/*************************************************************************
+Function: uart3_puts_p()
+Purpose:  transmit string from program memory to UART3
+Input:    program memory string to be transmitted
+Returns:  none
+**************************************************************************/
+void uart3_puts_p(const char *progmem_s)
+{
+       register char c;
+
+       while ((c = pgm_read_byte(progmem_s++))) {
+               uart3_putc(c);
+       }
+
+} /* uart3_puts_p */
+
+
+
+/*************************************************************************
+Function: uart3_available()
+Purpose:  Determine the number of bytes waiting in the receive buffer
+Input:    None
+Returns:  Integer number of bytes in the receive buffer
+**************************************************************************/
+uint16_t uart3_available(void)
+{
+       uint16_t ret;
+
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               ret = (UART_RX3_BUFFER_SIZE + UART3_RxHead - UART3_RxTail) & UART_RX3_BUFFER_MASK;
+       }
+       return ret;
+} /* uart3_available */
+
+
+
+/*************************************************************************
+Function: uart3_flush()
+Purpose:  Flush bytes waiting the receive buffer. Actually ignores them.
+Input:    None
+Returns:  None
+**************************************************************************/
+void uart3_flush(void)
+{
+       ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+               UART3_RxHead = UART3_RxTail;
+       }
+} /* uart3_flush */
+
+#endif
+
+#endif /* defined(USART3_ENABLED) */
\ No newline at end of file

diff --git a/hardcopy/styrmodul/Styrmodul/uart.h b/hardcopy/styrmodul/Styrmodul/uart.h
new file mode 100644 (file)
index 0000000..bed43fb
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/uart.h
@@ -0,0 +1,450 @@
+/*
+ * uart.h
+ *
+ * Created: 2024-04-02 09:28:23
+ *  Author: nilfo359
+ */ 
+
+#ifndef UART_H
+#define UART_H
+
+/************************************************************************
+Title:    Interrupt UART library with receive/transmit circular buffers
+Author:   Andy Gock
+Software: AVR-GCC 4.1, AVR Libc 1.4
+Hardware: any AVR with built-in UART, tested on AT90S8515 & ATmega8 at 4 Mhz
+License:  GNU General Public License
+Usage:    see README.md and Doxygen manual
+
+Based on original library by Peter Fluery, Tim Sharpe, Nicholas Zambetti.
+
+https://github.com/andygock/avr-uart
+
+LICENSE:
+
+       Copyright (C) 2012 Andy Gock
+       Copyright (C) 2006 Peter Fleury
+
+       This program is free software; you can redistribute it and/or modify
+       it under the terms of the GNU General Public License as published by
+       the Free Software Foundation; either version 2 of the License, or
+       any later version.
+
+       This program is distributed in the hope that it will be useful,
+       but WITHOUT ANY WARRANTY; without even the implied warranty of
+       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+       GNU General Public License for more details.
+
+************************************************************************/
+
+/************************************************************************
+uart_available, uart_flush, uart1_available, and uart1_flush functions
+were adapted from the Arduino HardwareSerial.h library by Tim Sharpe on
+11 Jan 2009.  The license info for HardwareSerial.h is as follows:
+
+  HardwareSerial.h - Hardware serial library for Wiring
+  Copyright (c) 2006 Nicholas Zambetti.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+************************************************************************/
+
+/**
+ *  @defgroup avr-uart UART Library
+ *  @code #include <uart.h> @endcode
+ *
+ *  @brief Interrupt UART library using the built-in UART with transmit and receive circular buffers.
+ *  @see README.md
+ *
+ *  This library can be used to transmit and receive data through the built in UART.
+ *
+ *  An interrupt is generated when the UART has finished transmitting or
+ *  receiving a byte. The interrupt handling routines use circular buffers
+ *  for buffering received and transmitted data.
+ *
+ *  The UART_RXn_BUFFER_SIZE and UART_TXn_BUFFER_SIZE constants define
+ *  the size of the circular buffers in bytes. Note that these constants must be a power of 2.
+ *
+ *  You need to define these buffer sizes as a symbol in your compiler settings or in uart.h
+ *
+ *  See README.md for more detailed information. Especially that relating to symbols: USARTn_ENABLED and USARTn_LARGE_BUFFER
+ *
+ *  @author Andy Gock <andy@gock.net>
+ *  @note Based on Atmel Application Note AVR306 and original library by Peter Fleury and Tim Sharpe.
+ */
+
+/**@{*/
+#include <stdint.h>
+#include <avr/io.h>
+
+#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
+#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
+#endif
+
+#define UART_BAUD_RATE 230400
+
+//uint8_t uart_buffer[5]; // For some reason this doesnt send lots of unessecary data
+
+
+/*
+ * constants and macros
+ */
+
+/* Enable USART 1, 2, 3 as required */
+/* Can be defined in compiler symbol setup with -D option (preferred) */
+#ifndef USART0_ENABLED
+       #define USART0_ENABLED /**< Enable USART0 */
+#endif
+//#define USART1_ENABLED
+//#define USART2_ENABLED
+//#define USART3_ENABLED
+
+/* Set size of receive and transmit buffers */
+
+#ifndef UART_RX0_BUFFER_SIZE
+       #define UART_RX0_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+#ifndef UART_RX1_BUFFER_SIZE
+       #define UART_RX1_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+#ifndef UART_RX2_BUFFER_SIZE
+       #define UART_RX2_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+#ifndef UART_RX3_BUFFER_SIZE
+       #define UART_RX3_BUFFER_SIZE 128 /**< Size of the circular receive buffer, must be power of 2 */
+#endif
+
+#ifndef UART_TX0_BUFFER_SIZE
+       #define UART_TX0_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+#ifndef UART_TX1_BUFFER_SIZE
+       #define UART_TX1_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+#ifndef UART_TX2_BUFFER_SIZE
+       #define UART_TX2_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+#ifndef UART_TX3_BUFFER_SIZE
+       #define UART_TX3_BUFFER_SIZE 128 /**< Size of the circular transmit buffer, must be power of 2 */
+#endif
+
+/* Check buffer sizes are not too large for 8-bit positioning */
+
+#if (UART_RX0_BUFFER_SIZE > 256 & !defined(USART0_LARGE_BUFFER))
+       #error "Buffer too large, please use -DUSART0_LARGE_BUFFER switch in compiler options"
+#endif
+
+#if (UART_RX1_BUFFER_SIZE > 256 & !defined(USART1_LARGE_BUFFER))
+       #error "Buffer too large, please use -DUSART1_LARGE_BUFFER switch in compiler options"
+#endif
+
+#if (UART_RX2_BUFFER_SIZE > 256 & !defined(USART2_LARGE_BUFFER))
+       #error "Buffer too large, please use -DUSART2_LARGE_BUFFER switch in compiler options"
+#endif
+
+#if (UART_RX3_BUFFER_SIZE > 256 & !defined(USART3_LARGE_BUFFER))
+       #error "Buffer too large, please use -DUSART3_LARGE_BUFFER switch in compiler options"
+#endif
+
+/* Check buffer sizes are not too large for *_LARGE_BUFFER operation (16-bit positioning) */
+
+#if (UART_RX0_BUFFER_SIZE > 32768)
+       #error "Buffer too large, maximum allowed is 32768 bytes"
+#endif
+
+#if (UART_RX1_BUFFER_SIZE > 32768)
+       #error "Buffer too large, maximum allowed is 32768 bytes"
+#endif
+
+#if (UART_RX2_BUFFER_SIZE > 32768)
+       #error "Buffer too large, maximum allowed is 32768 bytes"
+#endif
+
+#if (UART_RX3_BUFFER_SIZE > 32768)
+       #error "Buffer too large, maximum allowed is 32768 bytes"
+#endif
+
+/** @brief  UART Baudrate Expression
+ *  @param  xtalCpu  system clock in Mhz, e.g. 4000000L for 4Mhz
+ *  @param  baudRate baudrate in bps, e.g. 1200, 2400, 9600
+ */
+#define UART_BAUD_SELECT(baudRate,xtalCpu) (((xtalCpu)+8UL*(baudRate))/(16UL*(baudRate))-1UL)
+
+/** @brief  UART Baudrate Expression for ATmega double speed mode
+ *  @param  xtalCpu  system clock in Mhz, e.g. 4000000L for 4Mhz
+ *  @param  baudRate baudrate in bps, e.g. 1200, 2400, 9600
+ */
+#define UART_BAUD_SELECT_DOUBLE_SPEED(baudRate,xtalCpu) ((((xtalCpu)+4UL*(baudRate))/(8UL*(baudRate))-1)|0x8000)
+
+/* test if the size of the circular buffers fits into SRAM */
+
+#if defined(USART0_ENABLED) && ( (UART_RX0_BUFFER_SIZE+UART_TX0_BUFFER_SIZE) >= (RAMEND-0x60))
+       #error "size of UART_RX0_BUFFER_SIZE + UART_TX0_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+#if defined(USART1_ENABLED) && ( (UART_RX1_BUFFER_SIZE+UART_TX1_BUFFER_SIZE) >= (RAMEND-0x60))
+       #error "size of UART_RX1_BUFFER_SIZE + UART_TX1_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+#if defined(USART2_ENABLED) && ( (UART_RX2_BUFFER_SIZE+UART_RX2_BUFFER_SIZE) >= (RAMEND-0x60))
+       #error "size of UART_RX2_BUFFER_SIZE + UART_TX2_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+#if defined(USART3_ENABLED) && ( (UART_RX3_BUFFER_SIZE+UART_RX3_BUFFER_SIZE) >= (RAMEND-0x60))
+       #error "size of UART_RX3_BUFFER_SIZE + UART_TX3_BUFFER_SIZE larger than size of SRAM"
+#endif
+
+/*
+** high byte error return code of uart_getc()
+*/
+#define UART_FRAME_ERROR      0x0800              /**< Framing Error by UART       */
+#define UART_OVERRUN_ERROR    0x0400              /**< Overrun condition by UART   */
+#define UART_BUFFER_OVERFLOW  0x0200              /**< receive ringbuffer overflow */
+#define UART_NO_DATA          0x0100              /**< no receive data available   */
+
+/* Macros, to allow use of legacy names */
+
+/** @brief Macro to initialize USART0 (only available on selected ATmegas) @see uart0_init */
+#define uart_init(b)      uart0_init(b)
+
+/** @brief Macro to get received byte of USART0 from ringbuffer. (only available on selected ATmega) @see uart0_getc */
+#define uart_getc()       uart0_getc()
+
+/** @brief Macro to peek at next byte in USART0 ringbuffer */
+#define uart_peek()       uart0_peek()
+
+/** @brief Macro to put byte to ringbuffer for transmitting via USART0 (only available on selected ATmega) @see uart0_putc */
+#define uart_putc(d)      uart0_putc(d)
+
+/** @brief Macro to put string to ringbuffer for transmitting via USART0 (only available on selected ATmega) @see uart0_puts */
+#define uart_puts(s)      uart0_puts(s)
+
+/** @brief Macro to put string from program memory to ringbuffer for transmitting via USART0 (only available on selected ATmega) @see uart0_puts_p */
+#define uart_puts_p(s)    uart0_puts_p(s)
+
+/** @brief Macro to return number of bytes waiting in the receive buffer of USART0 @see uart0_available */
+#define uart_available()  uart0_available()
+
+/** @brief Macro to flush bytes waiting in receive buffer of USART0 @see uart0_flush */
+#define uart_flush()      uart0_flush()
+
+/*
+** function prototypes
+*/
+
+/**
+   @brief   Initialize UART and set baudrate
+   @param   baudrate Specify baudrate using macro UART_BAUD_SELECT()
+   @return  none
+*/
+#if defined(AVR1_USART0)
+extern void uart0_init(uint32_t baudrate);
+#else
+extern void uart0_init(uint16_t baudrate);
+#endif
+
+/**
+ *  @brief   Get received byte from ringbuffer
+ *
+ * Returns in the lower byte the received character and in the
+ * higher byte the last receive error.
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @return  lower byte:  received byte from ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough,
+ *             one or more received character have been dropped
+ *           - \b UART_OVERRUN_ERROR
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR
+ *             <br>Framing Error by UART
+ */
+extern uint16_t uart0_getc(void);
+
+/**
+ *  @brief   Peek at next byte in ringbuffer
+ *
+ * Returns the next byte (character) of incoming UART data without removing it from the
+ * internal ring buffer. That is, successive calls to uartN_peek() will return the same
+ * character, as will the next call to uartN_getc().
+ *
+ * UART_NO_DATA is returned when no data is available.
+ *
+ *  @return  lower byte:  next byte in ringbuffer
+ *  @return  higher byte: last receive status
+ *           - \b 0 successfully received data from UART
+ *           - \b UART_NO_DATA
+ *             <br>no receive data available
+ *           - \b UART_BUFFER_OVERFLOW
+ *             <br>Receive ringbuffer overflow.
+ *             We are not reading the receive buffer fast enough,
+ *             one or more received character have been dropped
+ *           - \b UART_OVERRUN_ERROR
+ *             <br>Overrun condition by UART.
+ *             A character already present in the UART UDR register was
+ *             not read by the interrupt handler before the next character arrived,
+ *             one or more received characters have been dropped.
+ *           - \b UART_FRAME_ERROR
+ *             <br>Framing Error by UART
+ */
+extern uint16_t uart0_peek(void);
+
+/**
+ *  @brief   Put byte to ringbuffer for transmitting via UART
+ *  @param   data byte to be transmitted
+ *  @return  none
+ */
+extern void uart0_putc(uint8_t data);
+
+
+/**
+ *  @brief   Put string to ringbuffer for transmitting via UART
+ *
+ *  The string is buffered by the uart library in a circular buffer
+ *  and one character at a time is transmitted to the UART using interrupts.
+ *  Blocks if it can not write the whole string into the circular buffer.
+ *
+ *  @param   s string to be transmitted
+ *  @return  none
+ */
+extern void uart0_puts(const char *s);
+
+
+/**
+ * @brief    Put string from program memory to ringbuffer for transmitting via UART.
+ *
+ * The string is buffered by the uart library in a circular buffer
+ * and one character at a time is transmitted to the UART using interrupts.
+ * Blocks if it can not write the whole string into the circular buffer.
+ *
+ * @param    s program memory string to be transmitted
+ * @return   none
+ * @see      uart0_puts_P
+ */
+extern void uart0_puts_p(const char *s);
+
+/**
+ * @brief    Macro to automatically put a string constant into program memory
+ * \param    __s string in program memory
+ */
+#define uart_puts_P(__s)       uart0_puts_p(PSTR(__s))
+
+/** @brief  Macro to automatically put a string constant into program memory */
+#define uart0_puts_P(__s)      uart0_puts_p(PSTR(__s))
+
+/**
+ *  @brief   Return number of bytes waiting in the receive buffer
+ *  @return  bytes waiting in the receive buffer
+ */
+extern uint16_t uart0_available(void);
+
+/**
+ *  @brief   Flush bytes waiting in receive buffer
+ */
+extern void uart0_flush(void);
+
+
+/** @brief  Initialize USART1 (only available on selected ATmegas) @see uart_init */
+extern void uart1_init(uint16_t baudrate);
+
+/** @brief  Get received byte of USART1 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern uint16_t uart1_getc(void);
+
+/** @brief  Peek at next byte in USART1 ringbuffer */
+extern uint16_t uart1_peek(void);
+
+/** @brief  Put byte to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_putc */
+extern void uart1_putc(uint8_t data);
+
+/** @brief  Put string to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts */
+extern void uart1_puts(const char *s);
+
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART1 (only available on selected ATmega) @see uart_puts_p */
+extern void uart1_puts_p(const char *s);
+
+/** @brief  Macro to automatically put a string constant into program memory of USART1 @see uart1_puts_p */
+#define uart1_puts_P(__s)       uart1_puts_p(PSTR(__s))
+
+/** @brief  Return number of bytes waiting in the receive buffer of USART1 */
+extern uint16_t uart1_available(void);
+
+/** @brief  Flush bytes waiting in receive buffer of USART1 */
+extern void uart1_flush(void);
+
+
+/** @brief  Initialize USART2 (only available on selected ATmegas) @see uart_init */
+extern void uart2_init(uint16_t baudrate);
+
+/** @brief  Get received byte of USART2 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern uint16_t uart2_getc(void);
+
+/** @brief  Peek at next byte in USART2 ringbuffer */
+extern uint16_t uart2_peek(void);
+
+/** @brief  Put byte to ringbuffer for transmitting via USART2 (only available on selected ATmega) @see uart_putc */
+extern void uart2_putc(uint8_t data);
+
+/** @brief  Put string to ringbuffer for transmitting via USART2 (only available on selected ATmega) @see uart_puts */
+extern void uart2_puts(const char *s);
+
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART2 (only available on selected ATmega) @see uart_puts_p */
+extern void uart2_puts_p(const char *s);
+
+/** @brief  Macro to automatically put a string constant into program memory of USART2 @see uart2_puts_p */
+#define uart2_puts_P(__s)       uart2_puts_p(PSTR(__s))
+
+/** @brief  Return number of bytes waiting in the receive buffer of USART2 */
+extern uint16_t uart2_available(void);
+
+/** @brief  Flush bytes waiting in receive buffer of USART2 */
+extern void uart2_flush(void);
+
+
+/** @brief  Initialize USART3 (only available on selected ATmegas) @see uart_init */
+extern void uart3_init(uint16_t baudrate);
+
+/** @brief  Get received byte of USART3 from ringbuffer. (only available on selected ATmega) @see uart_getc */
+extern uint16_t uart3_getc(void);
+
+/** @brief  Peek at next byte in USART3 ringbuffer */
+extern uint16_t uart3_peek(void);
+
+/** @brief  Put byte to ringbuffer for transmitting via USART3 (only available on selected ATmega) @see uart_putc */
+extern void uart3_putc(uint8_t data);
+
+/** @brief  Put string to ringbuffer for transmitting via USART3 (only available on selected ATmega) @see uart_puts */
+extern void uart3_puts(const char *s);
+
+/** @brief  Put string from program memory to ringbuffer for transmitting via USART3 (only available on selected ATmega) @see uart_puts_p */
+extern void uart3_puts_p(const char *s);
+
+/** @brief  Macro to automatically put a string constant into program memory of USART3 @see uart3_puts_p */
+#define uart3_puts_P(__s)       uart3_puts_p(PSTR(__s))
+
+/** @brief  Return number of bytes waiting in the receive buffer of USART3 */
+extern uint16_t uart3_available(void);
+
+/** @brief  Flush bytes waiting in receive buffer of USART3 */
+extern void uart3_flush(void);
+
+/**@}*/
+
+#endif // UART_H

diff --git a/hardcopy/styrmodul/Styrmodul/vector.h b/hardcopy/styrmodul/Styrmodul/vector.h
new file mode 100644 (file)
index 0000000..cbcb57a
--- /dev/null
+++ b/hardcopy/styrmodul/Styrmodul/vector.h
@@ -0,0 +1,77 @@
+#pragma once
+
+#include "motor.h"
+
+typedef struct vec2 {
+       int16fp x;
+       int16fp y;
+} vec2;
+
+extern const int16fp sin_table[360];
+extern const int16fp cos_table[360];
+
+inline static int16fp fast_sin(int16_t angle) {
+       while (angle > 360) {
+               angle -= 360;
+       }
+       while (angle < 0) {
+               angle += 360;
+       }
+       return sin_table[angle];
+}
+
+inline static int16fp fast_cos(int16_t angle) {
+       while (angle > 360) {
+               angle -= 360;
+       }
+       while (angle < 0) {
+               angle += 360;
+       }
+       return cos_table[angle];
+}
+
+inline static vec2 vec2_new(int16fp x, int16fp y) {
+       vec2 result;
+       result.x = x;
+       result.y = y;
+       return result;
+}
+
+inline static vec2 vec2_add(vec2 a, vec2 b) {
+       vec2 result;
+       result.x = a.x+b.x;
+       result.y = a.y+b.y;
+       return result;
+}
+
+inline static vec2 vec2_sub(vec2 a, vec2 b) {
+       vec2 result;
+       result.x = a.x-b.x;
+       result.y = a.y-b.y;
+       return result;
+}
+
+inline static int32fp vec2_norm_squared(vec2 a) {
+       return FP_MUL((int32fp)a.x, a.x) + FP_MUL((int32fp)a.y, a.y);
+}
+
+inline static vec2 vec2_scalar_mul(vec2 a, int16fp scalar) {
+       vec2 result;
+       result.x = FP_MUL(a.x, scalar);
+       result.y = FP_MUL(a.y, scalar);
+       return result;
+}
+
+inline static int32fp vec2_dot(vec2 a, vec2 b) {
+       return FP_MUL((int32fp)a.x, b.x) + FP_MUL((int32fp)a.y, b.y);
+}
+
+// Rotate angle degrees counter clockwise.
+inline static vec2 vec2_rotate(vec2 a, int16_t angle) {
+       // [cos -sin]
+       // [sin cos]
+       vec2 result;
+       result.x = FP_MUL(fast_cos(angle), a.x) - FP_MUL(fast_sin(angle), a.y);
+       result.y = FP_MUL(fast_sin(angle), a.x) + FP_MUL(fast_cos(angle), a.y);
+       return result;
+}

diff --git a/hardcopy/styrmodul/gen_trig_table.py b/hardcopy/styrmodul/gen_trig_table.py
new file mode 100644 (file)
index 0000000..0dda401
--- /dev/null
+++ b/hardcopy/styrmodul/gen_trig_table.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+
+from math import *
+
+
+sin_table = []
+cos_table = []
+for angle in range(360):
+    a = sin(angle*pi/180.0)
+    sin_table.append(int(a*(2**8)))
+
+    a = cos(angle*pi/180.0)
+    cos_table.append(int(a*(2**8)))
+
+result = "int16fp sin_table[360] = {" + ','.join(map(str, sin_table)) + "}\n;"
+result += "int16fp cos_table[360] = {" + ','.join(map(str, cos_table)) + "}\n;"
+print(result)
\ No newline at end of file