Commit from tof on branch b_tof (2008-02-10 15:55 CET)
===============================
first version of the new kbd !
compilation is ok, needs to be tested : who has HW ?oliv ? eirbot ?
microb ?
+ aversive modules/devices/ihm/kbd/kbd.h
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/Makefile
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/kbd.h
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/kbd_matrix_4x4.c
1.1.2.1
+ aversive
modules/devices/ihm/kbd/kbd_matrix_4x4/config/kbd_matrix_4x4_config.h 1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/doc/SCHEMA.DDB
1.1.2.1
======================================
aversive/modules/devices/ihm/kbd/kbd.h (1.1.2.1)
======================================
@@ -0,0 +1,74 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd.h,v 1.1.2.1 2008-02-10 14:55:00 tof Exp $
+ *
+ */
+
+
+/** \file kbd.h
+ \brief Standard interface for all keyboards
+
+ this is the interface for all keyboard modules
+ Every keyboard type has to use this interface.
+ Only one type of keyboard can be used at a time.
+*/
+
+
+#ifndef _KBD_
+#define _KBD_
+
+#include <utils.h>
+
+
+
+/** Initialisation function */
+extern void kbd_init(void);
+
+/**
+ * For each key event, call the function key_event(c, event_type)
+ * has to be called periodically
+ * typical recommendation is every 20 ms typically.
+ */
+extern void kbd_manage(void);
+
+
+/** the event type definition */
+enum kbd_event {KBD_RELEASED, KBD_PRESSED , KBD_REPEAT};
+typedef enum kbd_event kbd_event;
+
+/**
+ * Add a function f(u08) which will be called on key event
+ *
+ * the registered function is for example:
+ * void kbd_callback(char c, kbd_event event_type)
+ * event_type is KBD_RELEASED, KBD_PRESSED or KBD_REPEAT
+ */
+extern void kbd_register_event(void (*f)(char, kbd_event));
+
+
+
+/**
+ * Return 0 if the key is NOT currently pressed, or 1 if
+ * the key is pressed
+ * key is the ascii value of the key without any shifts
+ * this function can be called in a loop to test one key
+ */
+extern uint8_t kbd_key_state(char key);
+
+
+#endif // _KBD_
========================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/Makefile (1.1.2.1)
========================================================
@@ -0,0 +1,7 @@
+TARGET = kbd_matrix_4x4
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = kbd_matrix_4x4.c
+
+include $(AVERSIVE_DIR)/mk/aversive_module.mk
+
=====================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/kbd.h (1.1.2.1)
=====================================================
@@ -0,0 +1,74 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd.h,v 1.1.2.1 2008-02-10 14:55:00 tof Exp $
+ *
+ */
+
+
+/** \file kbd.h
+ \brief Standard interface for all keyboards
+
+ this is the interface for all keyboard modules
+ Every keyboard type has to use this interface.
+ Only one type of keyboard can be used at a time.
+*/
+
+
+#ifndef _KBD_
+#define _KBD_
+
+#include <utils.h>
+
+
+
+/** Initialisation function */
+extern void kbd_init(void);
+
+/**
+ * For each key event, call the function key_event(c, event_type)
+ * has to be called periodically
+ * typical recommendation is every 20 ms typically.
+ */
+extern void kbd_manage(void);
+
+
+/** the event type definition */
+enum kbd_event {KBD_RELEASED, KBD_PRESSED , KBD_REPEAT};
+typedef enum kbd_event kbd_event;
+
+/**
+ * Add a function f(u08) which will be called on key event
+ *
+ * the registered function is for example:
+ * void kbd_callback(char c, kbd_event event_type)
+ * event_type is KBD_RELEASED, KBD_PRESSED or KBD_REPEAT
+ */
+extern void kbd_register_event(void (*f)(char, kbd_event));
+
+
+
+/**
+ * Return 0 if the key is NOT currently pressed, or 1 if
+ * the key is pressed
+ * key is the ascii value of the key without any shifts
+ * this function can be called in a loop to test one key
+ */
+extern uint8_t kbd_key_state(char key);
+
+
+#endif // _KBD_
================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/kbd_matrix_4x4.c (1.1.2.1)
================================================================
@@ -0,0 +1,330 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd_matrix_4x4.c,v 1.1.2.1 2008-02-10 14:55:00 tof Exp $
+ *
+ */
+
+
+
+
+/**********************************************************/
+
+#include <avr/io.h>
+#include <stdio.h>
+#include <avr/pgmspace.h>
+
+#include <utils.h>
+#include <kbd_matrix_4x4_config.h>
+#include <kbd.h>
+
+
+// mask bits definition
+
+#ifdef KBD_ROW1_BIT
+ #define KBD_ROW1_MASK (1<<KBD_ROW1_BIT)
+#else
+ #define KBD_ROW1_MASK 0
+#endif
+#ifdef KBD_ROW2_BIT
+ #define KBD_ROW2_MASK (1<<KBD_ROW2_BIT)
+#else
+ #define KBD_ROW2_MASK 0
+#endif
+#ifdef KBD_ROW3_BIT
+ #define KBD_ROW3_MASK (1<<KBD_ROW3_BIT)
+#else
+ #define KBD_ROW3_MASK 0
+#endif
+#ifdef KBD_ROW4_BIT
+ #define KBD_ROW4_MASK (1<<KBD_ROW4_BIT)
+#else
+ #define KBD_ROW4_MASK 0
+#endif
+
+#define KBD_ALL_ROWS_MASK ( KBD_ROW1_MASK | KBD_ROW2_MASK | KBD_ROW3_MASK |
KBD_ROW4_MASK )
+
+#ifdef KBD_COL1_BIT
+ #define KBD_COL1_MASK (1<<KBD_COL1_BIT)
+#else
+ #define KBD_COL1_MASK 0
+#endif
+#ifdef KBD_COL2_BIT
+ #define KBD_COL2_MASK (1<<KBD_COL2_BIT)
+#else
+ #define KBD_COL2_MASK 0
+#endif
+#ifdef KBD_COL3_BIT
+ #define KBD_COL3_MASK (1<<KBD_COL3_BIT)
+#else
+ #define KBD_COL3_MASK 0
+#endif
+#ifdef KBD_COL4_BIT
+ #define KBD_COL4_MASK (1<<KBD_COL4_BIT)
+#else
+ #define KBD_COL4_MASK 0
+#endif
+
+#define KBD_ALL_COLS_MASK ( KBD_COL1_MASK | KBD_COL2_MASK | KBD_COL3_MASK |
KBD_COL4_MASK )
+
+
+
+u16 kbd_scan(void);
+
+
+void (*g_event)(char, kbd_event) = NULL;
+
+/** keybitmap is a variable with one bit > one key */
+u16 g_debounced_keybitmap =0;
+
+
+const u08 PROGMEM pg_key_definition [16] = KBD_KEY_DEFINITION ;
+
+
+/**********************************************************/
+/** Initialisation function */
+void kbd_init(void)
+{
+
+ /* enabling pull-ups */
+ /* Desactivate all COLs */
+ KBD_PORT |= KBD_ALL_COLS_MASK | KBD_ALL_ROWS_MASK;
+
+}
+
+
+/**********************************************************/
+/**
+ * Add a function f(char, event) which will be called on key event
+ */
+void kbd_register_event(void (*f)(char,kbd_event))
+{
+ uint8_t flags;
+
+ IRQ_LOCK(flags);
+ g_event = f ;
+ IRQ_UNLOCK(flags);
+}
+
+/**********************************************************/
+/**
+ * Return 0 if the key is NOT currently pressed, or 1 if
+ * the key is pressed
+ */
+uint8_t kbd_key_state(char key)
+{
+ s08 keynumber =-1;
+
+ // search for the key number
+ for(u08 i=0; i<sizeof(pg_key_definition); i++)
+ {
+ if(pgm_read_byte(pg_key_definition+i) == key)
+ keynumber = i;
+ }
+
+ // check state
+ if(g_debounced_keybitmap & (1 << keynumber))
+ return 1;
+ else
+ return 0;
+
+}
+
+
+/**********************************************************/
+void kbd_manage(void)
+{
+ static u16 previous_keybitmap =0;
+ u16 actual_keybitmap;
+
+ u16 pressed, released;
+
+ actual_keybitmap = kbd_scan();
+
+ /** detection of changes.
+ efficient debouncing is done here
+ detection of changed keys is valid only if the 2 last
scans agree on the change towards the debounced value */
+
+ pressed = actual_keybitmap & previous_keybitmap &
~g_debounced_keybitmap;
+ released = ~actual_keybitmap & ~previous_keybitmap &
g_debounced_keybitmap;
+
+ previous_keybitmap= actual_keybitmap; // update memory state
+
+
+
+ /** application of the modification to the global variable */
+ g_debounced_keybitmap &= pressed;
+ g_debounced_keybitmap |= ~released;
+
+
+
+ /** autorepeat function
+ it is global to all keys (it is reset on each change)
+ So it covers the shift, or other various functions
+ that the user can implement */
+#ifdef KBD_AUTOREPEAT_ENABLED
+ u08 autorepeat = 0;
+ static u08 autorepeat_timer;
+
+ if((pressed | released) !=0)
+ autorepeat_timer = KBD_AUTOREPEAT_LATENCY; // reset autorepeat
on change
+ else
+ {
+ if (autorepeat_timer-- ==0) // no change : we decrement and
test the timer
+ {
+ autorepeat_timer = KBD_AUTOREPEAT_DELAY;
+ autorepeat = 1;
+ }
+ }
+#endif //KBD_AUTOREPEAT_ENABLED
+
+
+ /** calling the related event function */
+
+ // security copy : avoid corruption of the pointer in an interrupt
+ if(g_event)
+ {
+ void (*event_copy)(char, kbd_event);
+
+ uint8_t flags;
+
+ IRQ_LOCK(flags);
+ event_copy = g_event;
+ IRQ_UNLOCK(flags);
+
+
+ // calling events
+ u16 mask = 0x01;
+ for(u08 key=0; key<16; key++)
+ {
+ if( mask & pressed)
+ event_copy(
pgm_read_byte(pg_key_definition+key), KBD_PRESSED ) ;
+
+ if( mask & released)
+ event_copy(
pgm_read_byte(pg_key_definition+key), KBD_RELEASED ) ;
+#ifdef KBD_AUTOREPEAT_ENABLED
+ if( (autorepeat) && (mask & g_debounced_keybitmap) )
+ event_copy(
pgm_read_byte(pg_key_definition+key), KBD_REPEAT ) ;
+#endif //KBD_AUTOREPEAT_ENABLED
+ }
+ }
+}
+
+
+
+/**********************************************************/
+
+/* Private functions */
+
+/**********************************************************/
+
+
+/**
+ * Returns a keybitmap in an integer containing the state of each key : 1
+ * if the key is pressed, 0 if it is released.
+ */
+u16 kbd_scan(void)
+{
+ u08 state[4] = {0,0,0,0};
+ u16 keybitmap = 0;
+
+
+ /* switching cols is done with atomic operations (sbi) in order to
enshure
+ not to interfere with other users of the port (case of a
smaller keyboard than 8*8)
+
+ the scanning is done by enabling only one output, so that 2
keys are always detected, even if in the same row */
+
+ // read col 1
+ #ifdef KBD_COL1_BIT
+ cbi(KBD_PORT, KBD_COL1_BIT);
+ sbi(DDR(KBD_PORT), KBD_COL1_BIT);
+ nop();
+ nop();
+ nop();
+ state[0] = ~ PIN(KBD_PORT);
+ sbi(KBD_PORT, KBD_COL1_BIT); // order is for precharging activated row
again to H level
+ cbi(DDR(KBD_PORT), KBD_COL1_BIT);
+ #endif
+
+ // read col 2
+ #ifdef KBD_COL2_BIT
+ cbi(KBD_PORT, KBD_COL2_BIT);
+ sbi(DDR(KBD_PORT), KBD_COL2_BIT);
+ nop();
+ nop();
+ nop();
+ state[1] = ~ PIN(KBD_PORT);
+ sbi(KBD_PORT, KBD_COL2_BIT); // order is for precharging activated row
again to H level
+ cbi(DDR(KBD_PORT), KBD_COL2_BIT);
+ #endif
+
+ // read col 3
+ #ifdef KBD_COL3_BIT
+ cbi(KBD_PORT, KBD_COL3_BIT);
+ sbi(DDR(KBD_PORT), KBD_COL3_BIT);
+ nop();
+ nop();
+ nop();
+ state[2] = ~ PIN(KBD_PORT);
+ sbi(KBD_PORT, KBD_COL3_BIT); // order is for precharging activated row
again to H level
+ cbi(DDR(KBD_PORT), KBD_COL3_BIT);
+ #endif
+
+ // read col 4
+ #ifdef KBD_COL4_BIT
+ cbi(KBD_PORT, KBD_COL4_BIT);
+ sbi(DDR(KBD_PORT), KBD_COL4_BIT);
+ nop();
+ nop();
+ nop();
+ state[3] = ~ PIN(KBD_PORT);
+ sbi(KBD_PORT, KBD_COL4_BIT); // order is for precharging activated row
again to H level
+ cbi(DDR(KBD_PORT), KBD_COL4_BIT);
+ #endif
+
+
+ // convert to keybitmap
+ // optimize it with a loop ? not shure
+ #ifdef KBD_COL1_BIT
+ if(state[0] & KBD_ROW1_MASK) keybitmap |= (1<<0);
+ if(state[0] & KBD_ROW2_MASK) keybitmap |= (1<<1);
+ if(state[0] & KBD_ROW3_MASK) keybitmap |= (1<<2);
+ if(state[0] & KBD_ROW4_MASK) keybitmap |= (1<<3);
+ #endif
+ #ifdef KBD_COL2_BIT
+ if(state[1] & KBD_ROW1_MASK) keybitmap |= (1<<4);
+ if(state[1] & KBD_ROW2_MASK) keybitmap |= (1<<5);
+ if(state[1] & KBD_ROW3_MASK) keybitmap |= (1<<6);
+ if(state[1] & KBD_ROW4_MASK) keybitmap |= (1<<7);
+ #endif
+ #ifdef KBD_COL3_BIT
+ if(state[2] & KBD_ROW1_MASK) keybitmap |= (1<<8);
+ if(state[2] & KBD_ROW2_MASK) keybitmap |= (1<<9);
+ if(state[2] & KBD_ROW3_MASK) keybitmap |= (1<<10);
+ if(state[2] & KBD_ROW4_MASK) keybitmap |= (1<<11);
+ #endif
+ #ifdef KBD_COL4_BIT
+ if(state[3] & KBD_ROW1_MASK) keybitmap |= (1<<12);
+ if(state[3] & KBD_ROW2_MASK) keybitmap |= (1<<13);
+ if(state[3] & KBD_ROW3_MASK) keybitmap |= (1<<14);
+ if(state[3] & KBD_ROW4_MASK) keybitmap |= (1<<15);
+ #endif
+
+
+ return keybitmap;
+}
+
==============================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/config/kbd_matrix_4x4_config.h
(1.1.2.1)
==============================================================================
@@ -0,0 +1,64 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd_matrix_4x4_config.h,v 1.1.2.1 2008-02-10 14:55:00 tof
Exp $
+ *
+ */
+
+
+
+
+
+
+#ifndef _KBD_CONFIG_H_
+#define _KBD_CONFIG_H_
+
+
+/** Keymap */
+
+#define KBD_KEY_DEFINITION { '1', '2', '3', 'A', \
+ '4', '5', '6', 'B', \
+
'7', '8', '9', 'C', \
+
'*', '0', '#', 'D' }
+
+
+/** Port definitions
+ if one row or col does not exist, just undefine the
corresponding bit */
+
+#define KBD_PORT PORTA
+
+#define KBD_ROW1_BIT 0
+#define KBD_ROW2_BIT 1
+#define KBD_ROW3_BIT 2
+#define KBD_ROW4_BIT 3
+#define KBD_COL1_BIT 4
+#define KBD_COL2_BIT 5
+#define KBD_COL3_BIT 6
+#define KBD_COL4_BIT 7
+
+
+/** Autorepeat parameters
+ value is in number of cycles of kbd_manage
+ latency is the delay before the first activation
+ delay is the value between repetitions */
+
+#define KBD_AUTOREPEAT_ENABLED
+#define KBD_AUTOREPEAT_LATENCY 50
+#define KBD_AUTOREPEAT_DELAY 10
+
+
+#endif
==============================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/doc/SCHEMA.DDB (1.1.2.1)
==============================================================
Commit from tof (2008-02-10 15:55 CET)
===============
+ schematic.pdf connection 1.1.2.1
========================
schematic.pdf/connection (1.1.2.1)
========================
Commit from tof on branch b_tof (2008-02-10 15:55 CET)
===============================
first version of the new kbd !
compilation is ok, needs to be tested : who has HW ?oliv ? eirbot ?
microb ?
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/test/.config
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/test/Makefile
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4/test/main.c
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/Makefile
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/kbd.h
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/kbd_matrix_4x4_4port.c
1.1.2.1
+ aversive
modules/devices/ihm/kbd/kbd_matrix_4x4_4port/config/kbd_matrix_4x4_4port_config.h
1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/doc/SCHEMA.DDB
1.1.2.1
============================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/test/.config (1.1.2.1)
============================================================
@@ -0,0 +1,205 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+CONFIG_QUARTZ=8000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+# CONFIG_MATH_LIB is not set
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+CONFIG_MODULE_UTILS=y
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_WAIT=y
+CONFIG_MODULE_LIST=y
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+CONFIG_MODULE_UART=y
+CONFIG_MODULE_UART_CREATE_CONFIG=y
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+
+#
+# Keyboards
+#
+CONFIG_MODULE_KBD_MATRIX_4X4=y
+CONFIG_MODULE_KBD_MATRIX_4X4_CREATE_CONFIG=y
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable utils and pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you should enable utils and fixed_point modules to see all
available encoders)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
=============================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/test/Makefile (1.1.2.1)
=============================================================
@@ -0,0 +1,19 @@
+TARGET = main
+
+# Aversive root directory
+AVERSIVE_DIR = ../../../../../..
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
===========================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4/test/main.c (1.1.2.1)
===========================================================
@@ -0,0 +1,61 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.1.2.1 2008-02-10 14:55:01 tof Exp $
+ *
+ */
+
+#include <utils.h>
+#include <uart.h>
+#include <wait.h>
+#include <kbd.h>
+
+void kbd_callback(char c, kbd_event event_type)
+{
+ switch(event_type)
+ {
+ case KBD_PRESSED:
+ case KBD_REPEAT:
+ uart0_send(c);
+ break;
+ case KBD_RELEASED:
+ uart0_send('\n');
+ break;
+ }
+}
+
+int main(void)
+{
+
+
+ kbd_init();
+ uart_init();
+
+ kbd_register_event(kbd_callback);
+
+ sei();
+
+ while(1)
+ {
+
+ kbd_manage();
+ wait_ms(10); // no scheduler precision needed
+
+ }
+
+ return 0;
+}
==============================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/Makefile (1.1.2.1)
==============================================================
@@ -0,0 +1,7 @@
+TARGET = kbd_matrix_4x4_4port
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = kbd_matrix_4x4_4port.c
+
+include $(AVERSIVE_DIR)/mk/aversive_module.mk
+
===========================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/kbd.h (1.1.2.1)
===========================================================
@@ -0,0 +1,74 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd.h,v 1.1.2.1 2008-02-10 14:55:01 tof Exp $
+ *
+ */
+
+
+/** \file kbd.h
+ \brief Standard interface for all keyboards
+
+ this is the interface for all keyboard modules
+ Every keyboard type has to use this interface.
+ Only one type of keyboard can be used at a time.
+*/
+
+
+#ifndef _KBD_
+#define _KBD_
+
+#include <utils.h>
+
+
+
+/** Initialisation function */
+extern void kbd_init(void);
+
+/**
+ * For each key event, call the function key_event(c, event_type)
+ * has to be called periodically
+ * typical recommendation is every 20 ms typically.
+ */
+extern void kbd_manage(void);
+
+
+/** the event type definition */
+enum kbd_event {KBD_RELEASED, KBD_PRESSED , KBD_REPEAT};
+typedef enum kbd_event kbd_event;
+
+/**
+ * Add a function f(u08) which will be called on key event
+ *
+ * the registered function is for example:
+ * void kbd_callback(char c, kbd_event event_type)
+ * event_type is KBD_RELEASED, KBD_PRESSED or KBD_REPEAT
+ */
+extern void kbd_register_event(void (*f)(char, kbd_event));
+
+
+
+/**
+ * Return 0 if the key is NOT currently pressed, or 1 if
+ * the key is pressed
+ * key is the ascii value of the key without any shifts
+ * this function can be called in a loop to test one key
+ */
+extern uint8_t kbd_key_state(char key);
+
+
+#endif // _KBD_
============================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/kbd_matrix_4x4_4port.c
(1.1.2.1)
============================================================================
@@ -0,0 +1,236 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd_matrix_4x4_4port.c,v 1.1.2.1 2008-02-10 14:55:01 tof
Exp $
+ *
+ */
+
+
+
+
+/**********************************************************/
+
+#include <avr/io.h>
+#include <stdio.h>
+#include <avr/pgmspace.h>
+
+#include <utils.h>
+#include <kbd_matrix_4x4_4port_config.h>
+#include <kbd.h>
+
+
+// mask bits definition
+// simplifing macros
+#define KBD_PORT_MASK (0x0F << KBD_BIT)
+#define KBD_COLS (0x03 << KBD_BIT)
+#define KBD_LINES (0x0C << KBD_BIT)
+#define KBD_BIT2 (0x04 << KBD_BIT)
+
+
+
+u16 kbd_scan(void);
+
+
+void (*g_event)(char, kbd_event) = NULL;
+
+/** keybitmap is a variable with one bit > one key */
+u16 g_debounced_keybitmap =0;
+
+
+const u08 PROGMEM pg_key_definition [16] = KBD_KEY_DEFINITION ;
+
+
+/**********************************************************/
+/** Initialisation function */
+void kbd_init(void)
+{
+
+ KBD_PORT |= KBD_PORT_MASK;
+ DDR(KBD_PORT) &= (~KBD_PORT_MASK);
+
+}
+
+
+/**********************************************************/
+/**
+ * Add a function f(char, event) which will be called on key event
+ */
+void kbd_register_event(void (*f)(char,kbd_event))
+{
+ uint8_t flags;
+
+ IRQ_LOCK(flags);
+ g_event = f ;
+ IRQ_UNLOCK(flags);
+}
+
+/**********************************************************/
+/**
+ * Return 0 if the key is NOT currently pressed, or 1 if
+ * the key is pressed
+ */
+uint8_t kbd_key_state(char key)
+{
+ s08 keynumber =-1;
+
+ // search for the key number
+ for(u08 i=0; i<sizeof(pg_key_definition); i++)
+ {
+ if(pgm_read_byte(pg_key_definition+i) == key)
+ keynumber = i;
+ }
+
+ // check state
+ if(g_debounced_keybitmap & (1 << keynumber))
+ return 1;
+ else
+ return 0;
+
+}
+
+
+/**********************************************************/
+void kbd_manage(void)
+{
+ static u16 previous_keybitmap =0;
+ u16 actual_keybitmap;
+
+ u16 pressed, released;
+
+ actual_keybitmap = kbd_scan();
+
+ /** detection of changes.
+ efficient debouncing is done here
+ detection of changed keys is valid only if the 2 last
scans agree on the change towards the debounced value */
+
+ pressed = actual_keybitmap & previous_keybitmap &
~g_debounced_keybitmap;
+ released = ~actual_keybitmap & ~previous_keybitmap &
g_debounced_keybitmap;
+
+ previous_keybitmap= actual_keybitmap; // update memory state
+
+
+
+ /** application of the modification to the global variable */
+ g_debounced_keybitmap &= pressed;
+ g_debounced_keybitmap |= ~released;
+
+
+
+ /** autorepeat function
+ it is global to all keys (it is reset on each change)
+ So it covers the shift, or other various functions
+ that the user can implement */
+#ifdef KBD_AUTOREPEAT_ENABLED
+ u08 autorepeat = 0;
+ static u08 autorepeat_timer;
+
+ if((pressed | released) !=0)
+ autorepeat_timer = KBD_AUTOREPEAT_LATENCY; // reset autorepeat
on change
+ else
+ {
+ if (autorepeat_timer-- ==0) // no change : we decrement and
test the timer
+ {
+ autorepeat_timer = KBD_AUTOREPEAT_DELAY;
+ autorepeat = 1;
+ }
+ }
+#endif //KBD_AUTOREPEAT_ENABLED
+
+
+ /** calling the related event function */
+
+ // security copy : avoid corruption of the pointer in an interrupt
+ if(g_event)
+ {
+ void (*event_copy)(char, kbd_event);
+
+ uint8_t flags;
+
+ IRQ_LOCK(flags);
+ event_copy = g_event;
+ IRQ_UNLOCK(flags);
+
+
+ // calling events
+ u16 mask = 0x01;
+ for(u08 key=0; key<16; key++)
+ {
+ if( mask & pressed)
+ event_copy(
pgm_read_byte(pg_key_definition+key), KBD_PRESSED ) ;
+
+ if( mask & released)
+ event_copy(
pgm_read_byte(pg_key_definition+key), KBD_RELEASED ) ;
+#ifdef KBD_AUTOREPEAT_ENABLED
+ if( (autorepeat) && (mask & g_debounced_keybitmap) )
+ event_copy(
pgm_read_byte(pg_key_definition+key), KBD_REPEAT ) ;
+#endif //KBD_AUTOREPEAT_ENABLED
+ }
+ }
+}
+
+
+
+/**********************************************************/
+
+/* Private functions */
+
+/**********************************************************/
+
+
+/**
+ * Returns a keybitmap in an integer containing the state of each key : 1
+ * if the key is pressed, 0 if it is released.
+ */
+u16 kbd_scan(void)
+{
+
+ u08 no_key_pressed = 0;
+
+ u08 value;
+
+ // temps 1: on teste les 3 premieres lignes
+ value = PIN(KBD_PORT);
+
+ // si aucune ligne active detectee, on a soit la 4eme ligne active, soit
aucune touche appuyee
+ if ((~(value) & KBD_LINES) ==0) {
+ //temps2: on teste la 4eme ligne
+ cbi(KBD_PORT,KBD_BIT + 3); //on met le bit 3 en sortie a 0
+ sbi(DDR(KBD_PORT) ,KBD_BIT + 3); //ce qui permet a T3 de conduire si la
4eme ligne est utilisee
+
+ nop();
+ nop();
+ nop();
+ value = PIN(KBD_PORT);; // lecture
+
+ cbi(DDR(KBD_PORT),KBD_BIT +3); //on remet DDR3 a 0
+ sbi(KBD_PORT,KBD_BIT +3); //et le port a 1
+ // ! a l ordre, car si on mettait d abord le port a 1, on aurait une
impulsion sur le port
+ // meme chose + haut
+
+ if ((value & KBD_BIT2)!=0)
+ no_key_pressed = 1; // aucune touche
+ else
+ value |= KBD_LINES; // mise a 1 des bits de ligne, (plus tard a 0, pour
signifier ligne4)
+ }
+
+
+ value = ((~value) & KBD_PORT_MASK) >> KBD_BIT ; // inversion et extraction
des valeurs: colonne + 4*ligne, avec 0 represente la ligne/colonne 4
+
+
+ return (1<<value);
+}
+
==========================================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/config/kbd_matrix_4x4_4port_config.h
(1.1.2.1)
==========================================================================================
@@ -0,0 +1,56 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: kbd_matrix_4x4_4port_config.h,v 1.1.2.1 2008-02-10
14:55:01 tof Exp $
+ *
+ */
+
+
+
+
+
+
+#ifndef _KBD_CONFIG_H_
+#define _KBD_CONFIG_H_
+
+
+/** Keymap */
+
+#define KBD_KEY_DEFINITION { '1', '2', '3', 'A', \
+ '4', '5', '6', 'B', \
+
'7', '8', '9', 'C', \
+
'*', '0', '#', 'D' }
+
+
+/** Port definitions
+ the order must be the same than in the schematic.
+ the lowest bit is KBD_BIT */
+
+#define KBD_PORT PORTA
+#define KBD_BIT 0
+
+/** Autorepeat parameters
+ value is in number of cycles of kbd_manage
+ latency is the delay before the first activation
+ delay is the value between repetitions */
+
+#define KBD_AUTOREPEAT_ENABLED
+#define KBD_AUTOREPEAT_LATENCY 50
+#define KBD_AUTOREPEAT_DELAY 10
+
+
+#endif
====================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/doc/SCHEMA.DDB (1.1.2.1)
====================================================================
Commit from tof (2008-02-10 15:55 CET)
===============
+ schematics.pdf connection 1.1.2.1
=========================
schematics.pdf/connection (1.1.2.1)
=========================
Commit from tof on branch b_tof (2008-02-10 15:55 CET)
===============================
first version of the new kbd !
compilation is ok, needs to be tested : who has HW ?oliv ? eirbot ?
microb ?
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/test/.config 1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/test/Makefile 1.1.2.1
+ aversive modules/devices/ihm/kbd/kbd_matrix_4x4_4port/test/main.c 1.1.2.1
==================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/test/.config (1.1.2.1)
==================================================================
@@ -0,0 +1,207 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+CONFIG_QUARTZ=8000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+# CONFIG_MATH_LIB is not set
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+CONFIG_MODULE_UTILS=y
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+CONFIG_MODULE_WAIT=y
+CONFIG_MODULE_LIST=y
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+CONFIG_MODULE_UART=y
+CONFIG_MODULE_UART_CREATE_CONFIG=y
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+
+#
+# Keyboards
+#
+# CONFIG_MODULE_KBD_MATRIX_4X4 is not set
+# CONFIG_MODULE_KBD_MATRIX_4X4_CREATE_CONFIG is not set
+CONFIG_MODULE_KBD_MATRIX_4X4_4PORT=y
+CONFIG_MODULE_KBD_MATRIX_4X4_4PORT_CREATE_CONFIG=y
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable utils and pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you should enable utils and fixed_point modules to see all
available encoders)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
===================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/test/Makefile (1.1.2.1)
===================================================================
@@ -0,0 +1,19 @@
+TARGET = main
+
+# Aversive root directory
+AVERSIVE_DIR = ../../../../../..
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
=================================================================
aversive/modules/devices/ihm/kbd/kbd_matrix_4x4_4port/test/main.c (1.1.2.1)
=================================================================
@@ -0,0 +1,61 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ * (at your option) 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.1.2.1 2008-02-10 14:55:01 tof Exp $
+ *
+ */
+
+#include <utils.h>
+#include <uart.h>
+#include <wait.h>
+#include <kbd.h>
+
+void kbd_callback(char c, kbd_event event_type)
+{
+ switch(event_type)
+ {
+ case KBD_PRESSED:
+ case KBD_REPEAT:
+ uart0_send(c);
+ break;
+ case KBD_RELEASED:
+ uart0_send('\n');
+ break;
+ }
+}
+
+int main(void)
+{
+
+
+ kbd_init();
+ uart_init();
+
+ kbd_register_event(kbd_callback);
+
+ sei();
+
+ while(1)
+ {
+
+ kbd_manage();
+ wait_ms(10); // no scheduler precision needed
+
+ }
+
+ return 0;
+}
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WIKI : http://wiki.droids-corp.org/index.php/Aversive
DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/
BUGZILLA : http://bugzilla.droids-corp.org
COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
