From 8ff16f57b1d47561b2da8cadecfa7c91bc6fbf35 Mon Sep 17 00:00:00 2001 From: Michael Hayes Date: Tue, 1 Oct 2013 16:20:07 +1300 Subject: [PATCH] Add version of gobble6 but using task scheduler --- apps/gobble7/Makefile | 80 +++++++++++++++ apps/gobble7/Makefile.test | 70 ++++++++++++++ apps/gobble7/doc/Makefile | 45 +++++++++ apps/gobble7/doc/README | 16 +++ apps/gobble7/gobble7.c | 127 ++++++++++++++++++++++++ apps/gobble7/things.c | 193 +++++++++++++++++++++++++++++++++++++ apps/gobble7/things.h | 16 +++ apps/pulsate1/pulsate1.c | 72 ++++++++------ 8 files changed, 588 insertions(+), 31 deletions(-) create mode 100644 apps/gobble7/Makefile create mode 100644 apps/gobble7/Makefile.test create mode 100644 apps/gobble7/doc/Makefile create mode 100644 apps/gobble7/doc/README create mode 100644 apps/gobble7/gobble7.c create mode 100644 apps/gobble7/things.c create mode 100644 apps/gobble7/things.h diff --git a/apps/gobble7/Makefile b/apps/gobble7/Makefile new file mode 100644 index 0000000..481ba02 --- /dev/null +++ b/apps/gobble7/Makefile @@ -0,0 +1,80 @@ +# File: Makefile +# Author: M. P. Hayes, UCECE +# Date: 12 Sep 2010 +# Descr: Makefile for gobble7 + +# Definitions. +CC = avr-gcc +CFLAGS = -mmcu=atmega32u2 -Os -Wall -Wstrict-prototypes -Wextra -g -I. -I../../drivers/avr -I../../fonts -I../../drivers -I../../utils +OBJCOPY = avr-objcopy +SIZE = avr-size +DEL = rm + + +# Default target. +all: gobble7.out + + +# Compile: create object files from C source files. +gobble7.o: gobble7.c ../../drivers/avr/system.h ../../drivers/avr/timer.h ../../drivers/display.h ../../drivers/led.h ../../drivers/navswitch.h ../../fonts/font3x5_1.h ../../utils/font.h ../../utils/task.h ../../utils/tinygl.h things.h + $(CC) -c $(CFLAGS) $< -o $@ + +things.o: things.c ../../drivers/avr/system.h ../../drivers/display.h ../../utils/font.h ../../utils/tinygl.h things.h + $(CC) -c $(CFLAGS) $< -o $@ + +pio.o: ../../drivers/avr/pio.c ../../drivers/avr/pio.h ../../drivers/avr/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +system.o: ../../drivers/avr/system.c ../../drivers/avr/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +timer.o: ../../drivers/avr/timer.c ../../drivers/avr/system.h ../../drivers/avr/timer.h + $(CC) -c $(CFLAGS) $< -o $@ + +display.o: ../../drivers/display.c ../../drivers/avr/system.h ../../drivers/display.h ../../drivers/ledmat.h + $(CC) -c $(CFLAGS) $< -o $@ + +led.o: ../../drivers/led.c ../../drivers/avr/pio.h ../../drivers/avr/system.h ../../drivers/led.h + $(CC) -c $(CFLAGS) $< -o $@ + +ledmat.o: ../../drivers/ledmat.c ../../drivers/avr/pio.h ../../drivers/avr/system.h ../../drivers/ledmat.h + $(CC) -c $(CFLAGS) $< -o $@ + +navswitch.o: ../../drivers/navswitch.c ../../drivers/avr/delay.h ../../drivers/avr/pio.h ../../drivers/avr/system.h ../../drivers/navswitch.h + $(CC) -c $(CFLAGS) $< -o $@ + +font.o: ../../utils/font.c ../../drivers/avr/system.h ../../utils/font.h + $(CC) -c $(CFLAGS) $< -o $@ + +task.o: ../../utils/task.c ../../drivers/avr/system.h ../../drivers/avr/timer.h ../../utils/task.h + $(CC) -c $(CFLAGS) $< -o $@ + +tinygl.o: ../../utils/tinygl.c ../../drivers/avr/system.h ../../drivers/display.h ../../utils/font.h ../../utils/tinygl.h + $(CC) -c $(CFLAGS) $< -o $@ + + + + +# Link: create output file (executable) from object files. +gobble7.out: gobble7.o things.o pio.o system.o timer.o display.o led.o ledmat.o navswitch.o font.o task.o tinygl.o + $(CC) $(CFLAGS) $^ -o $@ -lm + $(SIZE) $@ + + +# Create hex file for programming from executable file. +gobble7.hex: gobble7.out + $(OBJCOPY) -O ihex gobble7.out gobble7.hex + + +# Target: clean project. +.PHONY: clean +clean: + -$(DEL) *.o *.out *.hex + + +# Target: program project. +.PHONY: program +program: gobble7.hex + dfu-programmer atmega32u2 erase; dfu-programmer atmega32u2 flash gobble7.hex; dfu-programmer atmega32u2 start + + diff --git a/apps/gobble7/Makefile.test b/apps/gobble7/Makefile.test new file mode 100644 index 0000000..3a1a378 --- /dev/null +++ b/apps/gobble7/Makefile.test @@ -0,0 +1,70 @@ +# File: Makefile +# Author: M. P. Hayes, UCECE +# Date: 11 Sep 2010 +# Descr: Makefile for gobble7 + +CC = gcc +CFLAGS = -Wall -Wstrict-prototypes -Wextra -g -I. -I../../drivers/test -I../../drivers -I../../fonts -I../../utils + +DEL = rm + + +# Default target. +all: gobble7 + + +# Compile: create object files from C source files. +gobble7-test.o: gobble7.c ../../drivers/display.h ../../drivers/led.h ../../drivers/navswitch.h ../../drivers/test/system.h ../../drivers/test/timer.h ../../fonts/font3x5_1.h ../../utils/font.h ../../utils/task.h ../../utils/tinygl.h things.h + $(CC) -c $(CFLAGS) $< -o $@ + +things-test.o: things.c ../../drivers/display.h ../../drivers/test/system.h ../../utils/font.h ../../utils/tinygl.h things.h + $(CC) -c $(CFLAGS) $< -o $@ + +display-test.o: ../../drivers/display.c ../../drivers/display.h ../../drivers/ledmat.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +led-test.o: ../../drivers/led.c ../../drivers/led.h ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +ledmat-test.o: ../../drivers/ledmat.c ../../drivers/ledmat.h ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +navswitch-test.o: ../../drivers/navswitch.c ../../drivers/navswitch.h ../../drivers/test/avrtest.h ../../drivers/test/delay.h ../../drivers/test/pio.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +mgetkey-test.o: ../../drivers/test/mgetkey.c ../../drivers/test/mgetkey.h + $(CC) -c $(CFLAGS) $< -o $@ + +pio-test.o: ../../drivers/test/pio.c ../../drivers/test/avrtest.h ../../drivers/test/pio.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +system-test.o: ../../drivers/test/system.c ../../drivers/test/avrtest.h ../../drivers/test/mgetkey.h ../../drivers/test/pio.h ../../drivers/test/system.h + $(CC) -c $(CFLAGS) $< -o $@ + +timer-test.o: ../../drivers/test/timer.c ../../drivers/test/system.h ../../drivers/test/timer.h + $(CC) -c $(CFLAGS) $< -o $@ + +font-test.o: ../../utils/font.c ../../drivers/test/system.h ../../utils/font.h + $(CC) -c $(CFLAGS) $< -o $@ + +task-test.o: ../../utils/task.c ../../drivers/test/system.h ../../drivers/test/timer.h ../../utils/task.h + $(CC) -c $(CFLAGS) $< -o $@ + +tinygl-test.o: ../../utils/tinygl.c ../../drivers/display.h ../../drivers/test/system.h ../../utils/font.h ../../utils/tinygl.h + $(CC) -c $(CFLAGS) $< -o $@ + + + + +# Link: create executable file from object files. +gobble7: gobble7-test.o things-test.o display-test.o led-test.o ledmat-test.o navswitch-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o font-test.o task-test.o tinygl-test.o + $(CC) $(CFLAGS) $^ -o $@ -lrt + + +# Clean: delete derived files. +.PHONY: clean +clean: + -$(DEL) gobble7 gobble7-test.o things-test.o display-test.o led-test.o ledmat-test.o navswitch-test.o mgetkey-test.o pio-test.o system-test.o timer-test.o font-test.o task-test.o tinygl-test.o + + + diff --git a/apps/gobble7/doc/Makefile b/apps/gobble7/doc/Makefile new file mode 100644 index 0000000..c93d18c --- /dev/null +++ b/apps/gobble7/doc/Makefile @@ -0,0 +1,45 @@ +# File: Makefile +# Author: M. P. Hayes, UCECE +# Date: 11 Sep 2010 +# Descr: Makefile for led5 docs + +# The scripts used to make the graphs require the program dot; this +# is part of the graphviz package. + +DEL = rm + +all: file_dependencies.pdf module_dependencies.pdf makefile_dependencies.pdf build_dependencies.pdf callgraph.pdf + +file_dependencies.pdf: files.d + ../../../etc/graphdeps.py $< --out $@ + +module_dependencies.pdf: modules.d + ../../../etc/graphdeps.py $< --modules --rotate --out $@ + +makefile_dependencies.pdf: ../Makefile + ../../../etc/graphdeps.py $< --out $@ + +build_dependencies.pdf: ../Makefile + ../../../etc/graphdeps.py $< --out $@ --showops + +callgraph.pdf: callgraph.d + ../../../etc/graphdeps.py --calls --modules $< --out $@ --showops + + +files.d: ../Makefile + (cd ..; ../../etc/makemake.py --relpath --files . . ../../drivers ../../drivers/avr ../../utils ../../extra --exclude system.h > doc/files.d) + + +modules.d: ../Makefile + (cd ..; ../../etc/makemake.py --relpath --modules . . ../../drivers ../../drivers/avr ../../utils ../../extra --exclude system > doc/modules.d) + + +callgraph.d: ../Makefile + (cd ..; ../../etc/makemake.py --cc="avr-gcc" --cflags="-Os -mmcu=atmega32u2" --relpath --calls . . ../../drivers ../../drivers/avr ../../utils ../../extra --exclude system.h > doc/callgraph.d) + + +# Clean: delete derived files. +.PHONY: clean +clean: + -$(DEL) *.d *.pdf + diff --git a/apps/gobble7/doc/README b/apps/gobble7/doc/README new file mode 100644 index 0000000..39a9712 --- /dev/null +++ b/apps/gobble7/doc/README @@ -0,0 +1,16 @@ +Running make in this directory will generate a number of PDF graphs. +In the callgraph, the arrows means "calls". In the dependency graphs, +the arrows means "requires" (or "depends upon"). + +callgraph.pdf This shows the callgraph, i.e., what functions each + function in the program calls. +module_dependencies.pdf This shows the dependencies between the modules. +file_dependencies.pdf This shows the dependencies between the files. +makefile_dependencies.pdf This shows the dependencies required by make when + building the program. +build_dependencies.pdf This is like makefile_dependencies.pdf but shows + the operations performed to generate the new file. + +callgraph.d This shows the callgraph in text format. +files.d This shows the file dependencies in text format. +modules.d This shows the module dependencies in text format. diff --git a/apps/gobble7/gobble7.c b/apps/gobble7/gobble7.c new file mode 100644 index 0000000..3726f66 --- /dev/null +++ b/apps/gobble7/gobble7.c @@ -0,0 +1,127 @@ +/** @file gobble7.c + @author M.P. Hayes + @date 1 Oct 2013 + @brief +*/ + +#include +#include +#include "system.h" +#include "task.h" +#include "navswitch.h" +#include "led.h" +#include "timer.h" +#include "tinygl.h" +#include "../fonts/font3x5_1.h" +#include "things.h" + + +#define DISPLAY_RATE 200 + +#define MOVE_RATE 10 + +#define NAVSWITCH_RATE 50 + +#define MONSTER_FLASH_RATE 5 + + +static bool running = 0; +static bool game_over = 1; +static int duration = 0; + + +static void display (__unused__ void *data) +{ + tinygl_update (); +} + + +static void monster_flash_task (__unused__ void *data) +{ + /* Flash the monster. */ + if (running) + monster_toggle (); +} + + +static void things_task (__unused__ void *data) +{ + /* Move the things. */ + if (running) + { + duration++; + things_move (); + } +} + + +static void navswitch_task (__unused__ void *data) +{ + navswitch_update (); + + if (navswitch_push_event_p (NAVSWITCH_NORTH)) + monster_move (0, -1); + if (navswitch_push_event_p (NAVSWITCH_SOUTH)) + monster_move (0, 1); + if (navswitch_push_event_p (NAVSWITCH_EAST)) + monster_move (1, 0); + if (navswitch_push_event_p (NAVSWITCH_WEST)) + monster_move (-1, 0); + + /* Pause/resume things running around. */ + if (navswitch_push_event_p (NAVSWITCH_PUSH)) + { + if (! running && game_over) + { + srand (timer_get ()); + tinygl_clear (); + things_create (); + + duration = 0; + game_over = 0; + } + + running = !running; + led_set (LED1, running); + } + + if (running && things_killed_p ()) + { + char buffer[6]; + + running = 0; + game_over = 1; + led_set (LED1, 0); + sprintf (buffer, "%d", duration); + tinygl_text (buffer); + } +} + + +int main (void) +{ + task_t tasks[] = + { + {.func = display, .period = TASK_RATE / DISPLAY_RATE}, + {.func = navswitch_task, .period = TASK_RATE / NAVSWITCH_RATE}, + {.func = things_task, .period = TASK_RATE / MOVE_RATE}, + {.func = monster_flash_task, .period = TASK_RATE / MONSTER_FLASH_RATE}, + }; + + + system_init (); + navswitch_init (); + led_init (); + led_set (LED1, 0); + + tinygl_init (DISPLAY_RATE); + tinygl_font_set (&font3x5_1); + tinygl_text_mode_set (TINYGL_TEXT_MODE_SCROLL); + tinygl_text_dir_set (TINYGL_TEXT_DIR_ROTATE); + + tinygl_text ("GOBBLE: PUSH TO START"); + + task_schedule (tasks, 4); + + return 0; +} diff --git a/apps/gobble7/things.c b/apps/gobble7/things.c new file mode 100644 index 0000000..68edfed --- /dev/null +++ b/apps/gobble7/things.c @@ -0,0 +1,193 @@ +#include +#include "things.h" +#include "tinygl.h" + + +/* Number of initial objects. */ +#define THINGS_NUM 6 + +#define SAFE_DISTANCE 3 + +#define ANXIETY_LEVEL 2 + +#define PANIC_LEVEL 50 + +#define MOVE_ATTEMPTS 12 + + +typedef struct thing_struct +{ + tinygl_point_t pos; + uint8_t anxiety; + bool alive; +} thing_t; + + +static thing_t things[THINGS_NUM]; + + +bool things_killed_p (void) +{ + uint8_t i; + + for (i = 1; i < THINGS_NUM; i++) + { + if (things[i].alive) + return 0; + } + return 1; +} + + +static int8_t thing_find (tinygl_point_t pos) +{ + uint8_t i; + + for (i = 0; i < THINGS_NUM; i++) + { + if (things[i].pos.x == pos.x + && things[i].pos.y == pos.y + && things[i].alive) + return i; + } + return -1; +} + + +static uint8_t thing_distance_squared (thing_t *things, uint8_t this) +{ + int8_t dx; + int8_t dy; + + dx = things[this].pos.x - things[0].pos.x; + dy = things[this].pos.y - things[0].pos.y; + + return dx * dx + dy * dy; +} + + +static bool thing_inbounds_p (tinygl_point_t pos) +{ + return pos.x >= 0 && pos.x < TINYGL_WIDTH + && pos.y >= 0 && pos.y < TINYGL_HEIGHT; +} + + +static bool thing_position_valid_p (tinygl_point_t pos) +{ + return thing_inbounds_p (pos) && thing_find (pos) == -1; +} + + +void monster_move (int8_t dx, int8_t dy) +{ + int8_t other; + tinygl_point_t newpos; + + newpos = tinygl_point (things[0].pos.x + dx, things[0].pos.y + dy); + if (!thing_inbounds_p (newpos)) + return; + + other = thing_find (newpos); + if (other != -1) + things[other].alive = 0; + + tinygl_draw_point (things[0].pos, 0); + things[0].pos = newpos; + tinygl_draw_point (newpos, 1); +} + + +void monster_toggle (void) +{ + tinygl_pixel_set (things[0].pos, ! tinygl_pixel_get (things[0].pos)); +} + + + +static void thing_move (uint8_t this) +{ + uint8_t i; + uint8_t distsq; + uint8_t panic; + tinygl_point_t pos; + + tinygl_draw_point (things[this].pos, 0); + + distsq = thing_distance_squared (things, this); + pos = things[this].pos; + + if (thing_distance_squared (things, this) <= SAFE_DISTANCE * SAFE_DISTANCE) + things[this].anxiety++; + else + things[this].anxiety = 0; + + panic = things[this].anxiety > ANXIETY_LEVEL + && (rand () % 100 > (100 - PANIC_LEVEL)); + + for (i = 0; i < MOVE_ATTEMPTS; i++) + { + int8_t dx; + int8_t dy; + tinygl_point_t newpos; + + dx = (rand () % 3) - 1; + dy = (rand () % 3) - 1; + + newpos = tinygl_point (pos.x + dx, pos.y + dy); + + if ((dx || dy) && ! thing_position_valid_p (newpos)) + continue; + + things[this].pos = newpos; + + if (panic || thing_distance_squared (things, this) > distsq) + break; + } + + /* Stay put if cannot find better position. */ + if (i == MOVE_ATTEMPTS) + things[this].pos = pos; + + tinygl_draw_point (things[this].pos, 1); +} + + +void things_move (void) +{ + uint8_t i; + + for (i = 1; i < THINGS_NUM; i++) + if (things[i].alive) + thing_move (i); +} + + +void things_create (void) +{ + uint8_t i; + + things[0].pos.x = 0; + things[0].pos.y = 0; + things[0].alive = 1; + tinygl_draw_point (things[0].pos, 1); + + for (i = 1; i < THINGS_NUM; i++) + { + uint8_t x; + uint8_t y; + + do + { + x = rand () % TINYGL_WIDTH; + y = rand () % TINYGL_HEIGHT; + } while (thing_find (tinygl_point (x, y)) != -1); + + things[i].pos.x = x; + things[i].pos.y = y; + things[i].alive = 1; + + tinygl_draw_point (things[i].pos, 1); + } +} + diff --git a/apps/gobble7/things.h b/apps/gobble7/things.h new file mode 100644 index 0000000..8b83a46 --- /dev/null +++ b/apps/gobble7/things.h @@ -0,0 +1,16 @@ +#ifndef THINGS_H +#define THINGS_H + +#include "system.h" + +bool things_killed_p (void); + +void things_create (void); + +void things_move (void); + +void monster_move (int8_t dx, int8_t dy); + +void monster_toggle (void); + +#endif diff --git a/apps/pulsate1/pulsate1.c b/apps/pulsate1/pulsate1.c index 544a0db..d946127 100644 --- a/apps/pulsate1/pulsate1.c +++ b/apps/pulsate1/pulsate1.c @@ -19,23 +19,26 @@ #define PWM_RATE 40 /* This is the rate (Hz) of luminance changes. */ -#define PULSATE_RATE 10 +#define PULSATE_RATE 1 #define UPDATE_RATE (LUMINANCE_STEPS * PWM_RATE) #define LOOP_RATE (TINYGL_WIDTH * UPDATE_RATE) + +/* Brightness = Luminance ** 2.5. */ + int main (void) { uint16_t pulsate_tick = 0; uint8_t pwm_tick = 0; uint8_t x; uint8_t y; + uint8_t update_col = 0; uint8_t col; uint8_t luminance = 0; - /* This controls the luminance levels. The maximum value - of LUMINANCE_STEPS gives 100 percent duty cycle. */ - const uint8_t levels[] = {1, 2, 4, 8, 15, 25, 15, 8, 4, 2, 1}; + /* This controls the luminance levels. */ + const uint8_t levels[] = {4, 8, 16, 32, 64, 100, 64, 32, 16, 4}; system_init (); @@ -54,36 +57,43 @@ int main (void) pacer_wait (); tinygl_update (); - } - - pulsate_tick++; - if (pulsate_tick >= UPDATE_RATE / PULSATE_RATE) - { - pulsate_tick = 0; - if (luminance == 0) - luminance = ARRAY_SIZE (levels) - 1; - else - luminance--; - } - - state = levels[luminance] > pwm_tick; - - /* Pulse width modulate pixels to control luminance. */ - for (x = 0; x < TINYGL_WIDTH; x++) - { - for (y = 0; y < TINYGL_HEIGHT; y++) + if (update_col != col) + continue; + + if (update_col == 0) + update_col = TINYGL_WIDTH; + update_col--; + + pulsate_tick++; + if (pulsate_tick >= UPDATE_RATE / PULSATE_RATE) { - tinygl_draw_point (tinygl_point (x, y), state); + pulsate_tick = 0; + + if (luminance == 0) + luminance = ARRAY_SIZE (levels) - 1; + else + luminance--; + } + + state = levels[luminance] > pwm_tick * 100 / LUMINANCE_STEPS; + + /* Pulse width modulate pixels to control luminance. */ + for (x = 0; x < TINYGL_WIDTH; x++) + { + for (y = 0; y < TINYGL_HEIGHT; y++) + { + tinygl_draw_point (tinygl_point (x, y), state); + } + } + + led_set (LED1, state); + + pwm_tick++; + if (pwm_tick >= UPDATE_RATE / PWM_RATE) + { + pwm_tick = 0; } - } - - led_set (LED1, state); - - pwm_tick++; - if (pwm_tick >= UPDATE_RATE / PWM_RATE) - { - pwm_tick = 0; } } return 0;