First version of program for ball_and_beam-2018

ball_and_beam-2018/avr/Makefile

+TARGETS=ball_and_beam-2018
+
+ball_and_beam-2018.ARCH=avr
+ball_and_beam-2018.CHIP=atmega32
+# 14.7456 MHz crystal, brown out
+ball_and_beam-2018.FUSE_L=0x1f
+ball_and_beam-2018.FUSE_H=0xd9
+ball_and_beam-2018.C=ball_and_beam-2018
+
+include ../../lib/avr/Makefile.common

ball_and_beam-2018/avr/ball_and_beam-2018.c

+#include <avr/eeprom.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+#include "serialio.h"
+
+/*
+ * Serial I/O assignments:
+ *   
+ *   DI 0 -- Motor Overtemp
+ *
+ *   DO 0 -- Motor Brake
+ *   DO 1 -- Accelerometer Self-Test
+ *
+ *   AI 0 -- Ball Position 
+ *   AI 1 -- Motor Current
+ *   AI 2 -- Accelerometer X
+ *   AI 3 -- Accelerometer Y
+ *   AI 4 -- Accelerometer Z
+ *   EI 5 -- Motor Position
+ *
+ *   AO 0 -- Motor Speed
+  */
+
+/*
+ * Used I/O pins
+ *
+ * PA0  Ball Position
+ * PA1  Motor Current
+ * PA2  Accelerometer X
+ * PA3  Accelerometer Y
+ * PA4  Accelerometer Z
+ *
+ * PB0  Ball On Beam
+ * PB1  Motor direction
+ * PB2  Encoder Z
+ * PB3  Motor Brake
+ * PB4  Motor Thermal Flag
+ * PB5  Programming MOSI
+ * PB6  Programming MISO
+ * PB7  Programming SCK
+ *
+ * PD0  Serial In
+ * PD1  Serial Out
+ * PD2  Encoder A
+ * PD3  Encoder B
+ * PD5  Motor PWM
+ */
+
+volatile unsigned char error;
+
+
+volatile uint8_t serial_readbits;
+volatile uint8_t serial_readchannels;
+volatile uint8_t serial_readconfig;
+
+struct values {
+  /* Outputs */
+  uint8_t motorBrake;
+  uint16_t motorSpeed;
+  uint8_t accelerometerSelfTest;
+
+  /* Inputs */
+  int16_t ballPosition;
+  int16_t motorCurrent;
+  int16_t accelerometerX;
+  int16_t accelerometerY;
+  int16_t accelerometerZ;
+  int32_t motorEncoder;
+  int8_t motorThermalFlag;
+  int8_t ballOnBeam;
+  uint8_t timer;
+};
+volatile struct values global;
+
+SIGNAL(ADC_vect)
+{
+  unsigned char channel = ADMUX & 0x0f;
+  unsigned int value = ADCW;
+
+  if (global.timer) {
+    global.timer--;
+    PORTD &= ~0x40;
+  } else {
+    PORTD |= 0x40;
+  }
+  switch (channel) {
+    case 0: { 
+      channel = 1; 
+      global.ballPosition = value;
+    } break;
+    case 1: { 
+      channel = 2; 
+      global.motorCurrent = value;
+    } break;
+    case 2: { 
+      channel = 3; 
+      global.accelerometerX = value;
+    } break;
+    case 3: { 
+      channel = 4; 
+      global.accelerometerY = value;
+    } break;
+    case 4: { 
+      channel = 5; 
+      global.accelerometerZ = value;
+    } break;
+    default: { 
+      channel = 0; 
+    } break;
+  }
+  ADMUX = 0x00 | channel; // Vref = external, right adjust
+  ADCSRA = 0xcf;          // Enable ADC interrupts, Clock/128 
+}
+
+typedef enum { cmd_clear_bit, cmd_set_bit, 
+	       cmd_read_bit, cmd_read_chan } command;
+
+SIGNAL(USART_RXC_vect)
+{
+  char ch = UDR;
+  
+  global.timer = 0xff;
+  switch (serialio_RXC(ch)) {
+    case serialio_clearbit: {
+      switch (serialio_channel) {
+        case 0: { PORTB &= ~0x08; } break;
+        case 1: { PORTC &= ~0x80; } break;
+      }
+    } break;
+   case serialio_setbit: {
+      switch (serialio_channel) {
+        case 0: { PORTB |= 0x08; } break;
+        case 1: { PORTC |= 0x80; } break;
+      }
+    } break;
+    case serialio_pollbit: {
+      if (serialio_channel < 1) { 
+        serial_readbits |= (1<<serialio_channel);
+      }
+    } break;
+    case serialio_pollchannel: { 
+      if (serialio_channel < 6) { 
+        serial_readchannels |= (1<<serialio_channel); 
+      } else if (serialio_channel == 31) { 
+        serial_readconfig = 1; 
+      }
+    } break;
+    case serialio_setchannel: {
+      switch (serialio_channel) {
+	case 0: { 
+          int16_t speed;
+          if (serialio_value < 0x400) {
+            speed = 0x400 - serialio_value;
+            PORTB |= 0x02;
+          } else {
+            speed = serialio_value - 0x400;
+            PORTB &= ~0x02;
+          }          
+	  OCR1A = speed & 0x3ff;
+	} break;
+      } break;
+    } break;
+    case serialio_error: {
+    } break;
+    case serialio_more: {
+    } break;
+  }
+}
+
+int main() 
+{
+  serialio_init();
+  serial_readbits = 0;
+  serial_readchannels = 0;
+  serial_readconfig = 0;
+  PORTA = 0x00;     // PortA, pull-ups
+  DDRA = 0x00;      // PortA, all inputs
+  PORTB = 0x00;     // PortB, pull-ups / initial values
+  DDRB = 0x0a;      // PortB, bits 1 & 3 outputs
+  PORTC = 0x00;     // PortC, pull-ups / initial values
+  DDRC = 0x80;      // PortC, bit 7 output
+  PORTD = 0x00;     // PortD, pull-ups / initial values
+  DDRD = 0x20;      // PortD, bit 5 output
+  TCCR0 = 0x05;	    // Timer0, Clock / 1024 
+  TCCR1A = 0x83;    // OC1A 10 bit PWM (Phase Correct), clear A on match
+  TCCR1B = 0x01;    // Clock / 1 
+  OCR1A = 0 & 0x3ff;
+  UCSRA = 0x00;     // USART: 
+  UCSRB = 0x98;     // USART: RxIntEnable|RxEnable|TxEnable 
+  UCSRC = 0x86;     // USART: 8bit, no parity
+  UBRRH = 0;        // USART: 115200 @ 14.7456MHz
+  UBRRL = 7;        // USART: 115200 @ 14.7456MHz
+  ADMUX = 0x00;     // Vref = external, right adjust
+  ADMUX = 0x0e;     // Vref = external, right adjust, read 1.22V (Vbg)
+  ADCSRA = 0xcf;    // Enable ADC interrupts, Clock/128 
+
+  SREG = 0x80;	    // Global interrupt enable 
+  while (1) {
+    unsigned char bits, channels, config;
+    struct values local;
+
+    SREG = 0x00;    // Global interrupt disable 
+    bits = serial_readbits;
+    serial_readbits = 0;
+    channels = serial_readchannels;
+    serial_readchannels = 0;
+    config = serial_readconfig;
+    serial_readconfig = 0;
+    local = global;
+    SREG = 0x80;    // Global interrupt enable 
+    if (channels & 0x01) { serialio_putchannel(0, local.ballPosition); }
+    if (channels & 0x02) { serialio_putchannel(1, local.motorCurrent); }
+    if (channels & 0x04) { serialio_putchannel(2, local.accelerometerX); }
+    if (channels & 0x08) { serialio_putchannel(3, local.accelerometerY); }
+    if (channels & 0x10) { serialio_putchannel(4, local.accelerometerZ); }
+    if (channels & 0x20) { serialio_putchannel(5, local.motorEncoder); }
+    if (bits & 0x01) { serialio_putbit(0, PORTB & 0x10); }  // thermalFlag
+    if (config) {
+      CONF_DIGITAL_IN(0, CONF_RESOLUTION(1));   // motorTemp
+
+      CONF_DIGITAL_OUT(0, CONF_RESOLUTION(1));  // motorBrake
+      CONF_DIGITAL_OUT(1, CONF_RESOLUTION(1));  // accelerometerSelfTest
+      
+      CONF_ANALOG_IN(0, CONF_RESOLUTION(10));	// ballPosition
+      CONF_ANALOG_IN(0, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(0, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(1, CONF_RESOLUTION(10));	// motorCurrent
+      CONF_ANALOG_IN(1, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(1, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(2, CONF_RESOLUTION(10));	// accelerometerX
+      CONF_ANALOG_IN(2, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(2, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(3, CONF_RESOLUTION(10));	// accelerometerY
+      CONF_ANALOG_IN(3, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(3, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(4, CONF_RESOLUTION(10));	// accelerometerZ
+      CONF_ANALOG_IN(4, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(10000)));
+      CONF_ANALOG_IN(4, CONF_MAX(CONF_POSITIVE_MILLIVOLT(10000)));
+      CONF_ENCODER_IN(5, CONF_RESOLUTION(32));  // motorPosition
+      
+      CONF_ANALOG_OUT(0, CONF_RESOLUTION(11));	// motorSpeed
+      CONF_ANALOG_OUT(0, CONF_MIN(CONF_NEGATIVE_MILLIVOLT(12000)));
+      CONF_ANALOG_OUT(0, CONF_MAX(CONF_POSITIVE_MILLIVOLT(12000)));
+
+      CONF_END();
+    }
+  }
+}
+