Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
P
processer
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
GitLab community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
Anders Blomdell
processer
Commits
114a55bb
Commit
114a55bb
authored
6 years ago
by
Anders Blomdell
Browse files
Options
Downloads
Patches
Plain Diff
First version of program for ball_and_beam-2018
parent
35570f3d
Branches
Branches containing commit
No related tags found
No related merge requests found
Changes
2
Show whitespace changes
Inline
Side-by-side
Showing
2 changed files
ball_and_beam-2018/avr/Makefile
+10
-0
10 additions, 0 deletions
ball_and_beam-2018/avr/Makefile
ball_and_beam-2018/avr/ball_and_beam-2018.c
+250
-0
250 additions, 0 deletions
ball_and_beam-2018/avr/ball_and_beam-2018.c
with
260 additions
and
0 deletions
ball_and_beam-2018/avr/Makefile
0 → 100644
+
10
−
0
View file @
114a55bb
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
This diff is collapsed.
Click to expand it.
ball_and_beam-2018/avr/ball_and_beam-2018.c
0 → 100644
+
250
−
0
View file @
114a55bb
#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
();
}
}
}
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment