roboforum.ru

/*!
 * @mainpage
 *
 * Опции для компиляции:
 *
 * 1. avr-gcc сс opts:
 * @code
 * -mmcu={?}        # какой МК?
 * -DF_CPU={?}      # какая частота тактирования?
 * -Os              # оптимизация по размеру
 * -x c++           # компиляция в режиме Си++
 * -g               # включить отладочную информацию в выходной elf
 * -ffunction-sections -fdata-sections   # прочие полезные ключи
 * @endcode
 *
 * 2. avr-gcc linker opts:
 * @code
 * -mmcu={?}
 * -Os
 * -g
 * -Wl,--gc-sections
 * -Wl,--relax
 * -Wl,-Map=main.map    # map-файл
 * @endcode
 */

/*!
 */
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#include <util/delay.h>

// назначение определений для удобства работы с периферией
#define PORTOUT     PORTB
#define DDROUT      DDRB
#define PINOUT      PINB
#define MOTOR_F     PB5
#define MOTOR_B     PB3
#define TURN_L      PB4
#define TURN_R      PB2
#define IRLED       PB1

#define PORTIN      PORTD
#define DDRIN       DDRD
#define PININ       PIND
#define LIGHT_R     PD0
#define LIGHT_L     PD1
#define BUMPER_F    PD3

#define SBI(port,bit)  port |=  (1<<(bit))
#define CBI(port,bit)  port &= ~(1<<(bit))

// #define outb(port,bit)  port = bit
//<- отказаться! <-Почему?
//<- а смысл истользовать устаревший макрос?, тем более что он ни где не используется

//! Возможные режимы движения
typedef enum {STOP=0, F, FR, FL, B, BR, BL} direction_t;
const unsigned int TIME=1;

// #define F_CPU 4000000
//<- задать это ключем при компиляции -DF_CPU=4000000UL , это впринципе можно и так оставить?
//<- нет это должно быть указано в Makefile, иначе _delay_(.*) не будет работать правильно

/*!
 * таблица вероятностей для выбора направления движения
 * исходя из текущего направления движения
 */
unsigned char p[7][7] = {
    {14,    43,   57,   71,     7,      100,    100},
    {7,     43,   71,   100,    100,    100,    100},
    {7,     50,   93,   100,    100,    100,    100},
    {7,     50,   57,   100,    100,    100,    100},
    {29,    29,   29,   29,     57,     79,     100},
    {36,    36,   36,   36,     71,     93,     100},
    {36,    36,   36,   36,     71,     79,     100},
};


//! текущее направление движения
direction_t this_move;
//unsigned char this_move;

/*!
 * Включение комбинации моторов для движения в заданном направлении
 */
void go(direction_t direction){
    switch (direction) {
    case STOP:
        CBI(PORTOUT, MOTOR_F);
        CBI(PORTOUT, MOTOR_B);
        CBI(PORTOUT, TURN_R);
        CBI(PORTOUT, TURN_L);
        break;

    case F:
        SBI(PORTOUT, MOTOR_F);
        CBI(PORTOUT, MOTOR_B);
        CBI(PORTOUT, TURN_R);
        CBI(PORTOUT, TURN_L);
        break;

    case FR:
        SBI(PORTOUT, MOTOR_F);
        CBI(PORTOUT, MOTOR_B);
        SBI(PORTOUT, TURN_R);
        CBI(PORTOUT, TURN_L);
        break;

    case FL:
        SBI(PORTOUT, MOTOR_F);
        CBI(PORTOUT, MOTOR_B);
        CBI(PORTOUT, TURN_R);
        SBI(PORTOUT, TURN_L);
        break;

    case B:
        CBI(PORTOUT, MOTOR_F);
        SBI(PORTOUT, MOTOR_B);
        CBI(PORTOUT, TURN_R);
        CBI(PORTOUT, TURN_L);
        break;

    case BR:
        CBI(PORTOUT, MOTOR_F);
        SBI(PORTOUT, MOTOR_B);
        SBI(PORTOUT, TURN_R);
        CBI(PORTOUT, TURN_L);
        break;

    case BL:
        CBI(PORTOUT, MOTOR_F);
        SBI(PORTOUT, MOTOR_B);
        CBI(PORTOUT, TURN_R);
        SBI(PORTOUT, TURN_L);
        break;
    }
}

/*!
 * Выбор направления движения в следующем шаге по таблице вероятностей
 */
direction_t next_move(void){
    unsigned char pp,
    direction_t i;

    // получаем случайное число 0..99
    pp = rand()/327;
    // ищем соответствие в таблице вероятностей
    for (i=STOP; i < BL+1; i++) {
        if (p[this_move][i] > pp)
            break;
    }
    this_move = i;       // записываем новое полученное направление как текущее
    return(i);
}

/*!
 * "Случайное блуждание"
 */
inline void walk(void){
    // этот цикл организует "свободное блуждание" пока
    // нет сигнала ни от одного из датчиков освещенности
    while ( (bit_is_set(PININ, LIGHT_R)) && (bit_is_set(PININ, LIGHT_L)) ) {
        // получаем следующее направление движения и
        go(next_move());
        _delay_ms(250); 
    }
    
    for (int ii=0; ii < 10; ii++) {
        _delay_loop_1(TIME);
        CBI(PORTOUT, IRLED);    // включаем ИК светодиод
        _delay_loop_1(TIME);
        SBI(PORTOUT, IRLED);    // выкл ИК светодиод
    }
    
   int count=0;
    for (int u=0; u < 14; u++){
        
        // если есть сигнал на Ик приемнике
        if (bit_is_clear(PININ, BUMPER_F)) {
            count++;
            if (count == 14) {
                if (this_move == FR)
                    go(BL);
                if (this_move == FL)
                    go(BR);
                else
                    go(B);
                
                // дай угадаю, не работает?
                _delay_ms(250);
                _delay_ms(250);
                
                this_move = B;
            }
        }
    }
    
    // этот цикл организует движение на свет, пока
    // есть сигнал хотя бы от одного из датчиков освещенности
    while ( (bit_is_clear(PININ, LIGHT_R)) || (bit_is_clear(PININ, LIGHT_L)) ) {
        if ( (bit_is_clear(PININ, LIGHT_R)) && (bit_is_clear(PININ, LIGHT_L)) )
            go(F);
        else { //<- без этих скобок потенциальное место ошибок
            if (bit_is_clear(PININ, LIGHT_R))
                go(FR);
            else
                if (bit_is_clear(PININ, LIGHT_L))
                    go(FL);
        }
    }
}

/*!
 * Главная программа
 */
int main(void)
{
    DDROUT  = 0xff;
    PORTOUT = 0x00;

    DDRIN   = 0x00;
    PORTIN  = 0xff;

    // запускаем главный цикл
    while(true)
        walk();

    return 0;
}

# Hey Emacs, this is a -*- makefile -*-
#----------------------------------------------------------------------------
# WinAVR Makefile Template written by Eric B. Weddington, Jцrg Wunsch, et al.
#
# Released to the Public Domain
#
# Additional material for this makefile was written by:
# Peter Fleury
# Tim Henigan
# Colin O'Flynn
# Reiner Patommel
# Markus Pfaff
# Sander Pool
# Frederik Rouleau
#
#----------------------------------------------------------------------------
# On command line:
#
# make all = Make software.
#
# make clean = Clean out built project files.
#
# make coff = Convert ELF to AVR COFF.
#
# make extcoff = Convert ELF to AVR Extended COFF.
#
# make program = Download the hex file to the device, using avrdude.
#                Please customize the avrdude settings below first!
#
# make debug = Start either simulavr or avarice as specified for debugging, 
#              with avr-gdb or avr-insight as the front end for debugging.
#
# make filename.s = Just compile filename.c into the assembler code only.
#
# make filename.i = Create a preprocessed source file for use in submitting
#                   bug reports to the GCC project.
#
# To rebuild project do "make clean" then "make all".
#----------------------------------------------------------------------------


# MCU name
MCU = atmega8


# Processor frequency.
#     This will define a symbol, F_CPU, in all source code files equal to the 
#     processor frequency. You can then use this symbol in your source code to 
#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
#     automatically to create a 32-bit value in your source code.
F_CPU = 4000000


# Output format. (can be srec, ihex, binary)
FORMAT = ihex


# Target file name (without extension).
TARGET = z1


# List C source files here. (C dependencies are automatically generated.)
SRC =  z1.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 = 


# Optimization level, can be [0, 1, 2, 3, s]. 
#     0 = turn off optimization. s = optimize for size.
#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
OPT = s


# Debugging format.
#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
#     AVR Studio 4.10 requires dwarf-2.
#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
DEBUG = stabs


# List any extra directories to look for include files here.
#     Each directory must be seperated by a space.
#     Use forward slashes for directory separators.
#     For a directory that has spaces, enclose it in quotes.
EXTRAINCDIRS = 


# Compiler flag to set the C Standard level.
#     c89   = "ANSI" C
#     gnu89 = c89 plus GCC extensions
#     c99   = ISO C99 standard (not yet fully implemented)
#     gnu99 = c99 plus GCC extensions
CSTANDARD = -std=gnu99


# Place -D or -U options here
CDEFS = -DF_CPU=$(F_CPU)UL


# Place -I options here
CINCS =



#---------------- Compiler Options ----------------
#  -g*:          generate debugging information
#  -O*:          optimization level
#  -f...:        tuning, see GCC manual and avr-libc documentation
#  -Wall...:     warning level
#  -Wa,...:      tell GCC to pass this to the assembler.
#    -adhlns...: create assembler listing
CFLAGS = -g$(DEBUG)
CFLAGS += -x c++
CFLAGS += $(CDEFS) $(CINCS)
CFLAGS += -O$(OPT)
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
CFLAGS += $(CSTANDARD)


#---------------- Assembler Options ----------------
#  -Wa,...:   tell GCC to pass this to the assembler.
#  -ahlms:    create listing
#  -gstabs:   have the assembler create line number information; note that
#             for use in COFF files, additional information about filenames
#             and function names needs to be present in the assembler source
#             files -- see avr-libc docs [FIXME: not yet described there]
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs 


#---------------- Library Options ----------------
# Minimalistic printf version
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.
PRINTF_LIB = 
#PRINTF_LIB = $(PRINTF_LIB_MIN)
#PRINTF_LIB = $(PRINTF_LIB_FLOAT)


# Minimalistic scanf version
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.
SCANF_LIB = 
#SCANF_LIB = $(SCANF_LIB_MIN)
#SCANF_LIB = $(SCANF_LIB_FLOAT)


MATH_LIB = -lm



#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),
# used for variables (.data/.bss) and heap (malloc()).
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),
# only used for heap (malloc()).
#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =



#---------------- Linker Options ----------------
#  -Wl,...:     tell GCC to pass this to linker.
#    -Map:      create map file
#    --cref:    add cross reference to  map file
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
LDFLAGS += $(EXTMEMOPTS)
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)



#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd 
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500
#
# Type: avrdude -c ?
# to get a full listing.
#
AVRDUDE_PROGRAMMER = pony-stk200

# com1 = serial port. Use lpt1 to connect to parallel port.
AVRDUDE_PORT = lpt1

AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep


# Uncomment the following if you want avrdude's erase cycle counter.
# Note that this counter needs to be initialized first using -Yn,
# see avrdude manual.
#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be
# performed after programming the device.
#AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
# to submit bug reports.
#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)



#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.
DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.
# DEBUG_UI = gdb
DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.
DEBUG_BACKEND = avarice
#DEBUG_BACKEND = simulavr

# GDB Init Filename.
GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG
JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.
DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally
#     just set to localhost unless doing some sort of crazy debugging when 
#     avarice is running on a different computer.
DEBUG_HOST = localhost



#============================================================================


# Define programs and commands.
SHELL = sh
CC = avr-gcc
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
SIZE = avr-size
NM = avr-nm
AVRDUDE = avrdude
REMOVE = rm -f
COPY = cp
WINSHELL = cmd


# Define Messages
# English
MSG_ERRORS_NONE = Errors: none
MSG_BEGIN = -------- begin --------
MSG_END = --------  end  --------
MSG_SIZE_BEFORE = Size before: 
MSG_SIZE_AFTER = Size after:
MSG_COFF = Converting to AVR COFF:
MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
MSG_FLASH = Creating load file for Flash:
MSG_EEPROM = Creating load file for EEPROM:
MSG_EXTENDED_LISTING = Creating Extended Listing:
MSG_SYMBOL_TABLE = Creating Symbol Table:
MSG_LINKING = Linking:
MSG_COMPILING = Compiling:
MSG_ASSEMBLING = Assembling:
MSG_CLEANING = Cleaning project:




# Define all object files.
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) 

# Define all listing files.
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) 


# Compiler flags to generate dependency files.
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d


# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)





# Default target.
all: begin gccversion sizebefore build sizeafter end

build: elf hex eep lss sym extcoff

elf: $(TARGET).elf
hex: $(TARGET).hex
eep: $(TARGET).eep
lss: $(TARGET).lss 
sym: $(TARGET).sym



# Eye candy.
# AVR Studio 3.x does not check make's exit code but relies on
# the following magic strings to be generated by the compile job.
begin:
   @echo
   @echo $(MSG_BEGIN)

end:
   @echo $(MSG_END)
   @echo


# Display size of file.
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
ELFSIZE = $(SIZE) -A $(TARGET).elf
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:
   @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
   $(AVRMEM) 2>/dev/null; echo; fi

sizeafter:
   @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
   $(AVRMEM) 2>/dev/null; echo; fi



# Display compiler version information.
gccversion : 
   @$(CC) --version



# Program the device.  
program: $(TARGET).hex $(TARGET).eep
   $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)


# Generate avr-gdb config/init file which does the following:
#     define the reset signal, load the target file, connect to target, and set 
#     a breakpoint at main().
gdb-config: 
   @$(REMOVE) $(GDBINIT_FILE)
   @echo define reset >> $(GDBINIT_FILE)
   @echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
   @echo end >> $(GDBINIT_FILE)
   @echo file $(TARGET).elf >> $(GDBINIT_FILE)
   @echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
ifeq ($(DEBUG_BACKEND),simulavr)
   @echo load  >> $(GDBINIT_FILE)
endif   
   @echo break main >> $(GDBINIT_FILE)
   
debug: gdb-config $(TARGET).elf
ifeq ($(DEBUG_BACKEND), avarice)
   @echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
   @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
   $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
   @$(WINSHELL) /c pause
   
else
   @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
   $(DEBUG_MFREQ) --port $(DEBUG_PORT)
endif
   @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
   



# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000 


coff: $(TARGET).elf
   @echo
   @echo $(MSG_COFF) $(TARGET).cof
   $(COFFCONVERT) -O coff-avr $< $(TARGET).cof


extcoff: $(TARGET).elf
   @echo
   @echo $(MSG_EXTENDED_COFF) $(TARGET).cof
   $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof



# Create final output files (.hex, .eep) from ELF output file.
%.hex: %.elf
   @echo
   @echo $(MSG_FLASH) $@
   $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf
   @echo
   @echo $(MSG_EEPROM) $@
   -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
   --change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.
%.lss: %.elf
   @echo
   @echo $(MSG_EXTENDED_LISTING) $@
   $(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.
%.sym: %.elf
   @echo
   @echo $(MSG_SYMBOL_TABLE) $@
   $(NM) -n $< > $@



# Link: create ELF output file from object files.
.SECONDARY : $(TARGET).elf
.PRECIOUS : $(OBJ)
%.elf: $(OBJ)
   @echo
   @echo $(MSG_LINKING) $@
   $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)


# Compile: create object files from C source files.
%.o : %.c
   @echo
   @echo $(MSG_COMPILING) $<
   $(CC) -c $(ALL_CFLAGS) $< -o $@ 


# Compile: create assembler files from C source files.
%.s : %.c
   $(CC) -S $(ALL_CFLAGS) $< -o $@


# Assemble: create object files from assembler source files.
%.o : %.S
   @echo
   @echo $(MSG_ASSEMBLING) $<
   $(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.
%.i : %.c
   $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 


# Target: clean project.
clean: begin clean_list end

clean_list :
   @echo
   @echo $(MSG_CLEANING)
   $(REMOVE) $(TARGET).hex
   $(REMOVE) $(TARGET).eep
   $(REMOVE) $(TARGET).cof
   $(REMOVE) $(TARGET).elf
   $(REMOVE) $(TARGET).map
   $(REMOVE) $(TARGET).sym
   $(REMOVE) $(TARGET).lss
   $(REMOVE) $(OBJ)
   $(REMOVE) $(LST)
   $(REMOVE) $(SRC:.c=.s)
   $(REMOVE) $(SRC:.c=.d)
   $(REMOVE) .dep/*



# Include the dependency files.
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)


# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion \
build elf hex eep lss sym coff extcoff \
clean clean_list program debug gdb-config

> "make.exe" all

-------- begin --------
avr-gcc (WinAVR 20080407) 4.3.0
Copyright (C) 2008 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.


Compiling: z1.c
avr-gcc -c -mmcu=atmega8 -I. -gstabs -x c++ -DF_CPU=4000000UL  -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wa,-adhlns=z1.lst  -std=gnu99 -MD -MP -MF .dep/z1.o.d z1.c -o z1.o 
cc1plus.exe: warning: command line option "-std=gnu99" is valid for C/ObjC but not for C++   если убрать эту строку ваще бред получается
z1.c: In function 'direction_t next_move()':
z1.c:147: error: expected initializer before 'i'
z1.c:152: error: 'i' was not declared in this scope
make.exe: *** [z1.o] Error 1

> Process Exit Code: 2
> Time Taken: 00:01

Compiling: z1.c
avr-gcc -c -mmcu=atmega8 -I. -gstabs -x c++ -DF_CPU=4000000UL  -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wa,-adhlns=z1.lst  -MD -MP -MF .dep/z1.o.d z1.c -o z1.o 
z1.c: In function 'direction_t next_move()':
z1.c:152: error: no 'operator++(int)' declared for postfix '++', trying prefix operator instead
z1.c:152: error: no match for 'operator++' in '++i'
make.exe: *** [z1.o] Error 1

direction_t next_move(void){
    unsigned char pp;
    uint8_t i;
   
    // получаем случайное число 0..99
    pp = rand()/327;
    // ищем соответствие в таблице вероятностей
    for (i=STOP; i < BL+1; i++) {
        if (p[this_move][i] > pp)
            break;
    }
    (direction_t)(i);
   this_move = i;       // записываем новое полученное направление как текущее
    return(i);
}

z1.c: In function 'direction_t next_move()':
z1.c:157: error: invalid conversion from 'uint8_t' to 'direction_t'
z1.c:158: error: invalid conversion from 'uint8_t' to 'direction_t'