From 7363cced82d2f358df0d1c9f72e95475935e1ec9 Mon Sep 17 00:00:00 2001
From: Pontus Giselsson <pontus.giselsson@control.lth.se>
Date: Thu, 19 Feb 2009 13:59:17 +0000
Subject: [PATCH] Added simulink file and matlab scripts
---
.../avr/compileUploadCurrentControl.sh | 4 ++--
.../avr/compileUploadVelControl.sh | 4 ++--
linear_pendulum_2009/avr/vel_control.c | 20 ++++++++-----------
3 files changed, 12 insertions(+), 16 deletions(-)
diff --git a/linear_pendulum_2009/avr/compileUploadCurrentControl.sh b/linear_pendulum_2009/avr/compileUploadCurrentControl.sh
index e97cfdf..dda8aeb 100755
--- a/linear_pendulum_2009/avr/compileUploadCurrentControl.sh
+++ b/linear_pendulum_2009/avr/compileUploadCurrentControl.sh
@@ -1,3 +1,3 @@
-avr-gcc -mmcu=atmega16 -g -Wall -o current_control current_control.c
-avr-objcopy -Osrec current_control current_control.sr
+avr-gcc -mmcu=atmega16 -g -Wall -o current_control.o current_control.c
+avr-objcopy -Osrec current_control.o current_control.sr
uisp -dprog=stk200 --erase --upload if=current_control.sr
\ No newline at end of file
diff --git a/linear_pendulum_2009/avr/compileUploadVelControl.sh b/linear_pendulum_2009/avr/compileUploadVelControl.sh
index 7a26573..bad2b4b 100755
--- a/linear_pendulum_2009/avr/compileUploadVelControl.sh
+++ b/linear_pendulum_2009/avr/compileUploadVelControl.sh
@@ -1,3 +1,3 @@
-avr-gcc -mmcu=atmega16 -O -g -Wall -o vel_control vel_control.c pccom.c
-avr-objcopy -Osrec vel_control vel_control.sr
+avr-gcc -mmcu=atmega16 -O -g -Wall -o vel_control.o vel_control.c pccom.c
+avr-objcopy -Osrec vel_control.o vel_control.sr
uisp -dprog=stk200 --erase --upload if=vel_control.sr
\ No newline at end of file
diff --git a/linear_pendulum_2009/avr/vel_control.c b/linear_pendulum_2009/avr/vel_control.c
index ca125ae..39122ae 100644
--- a/linear_pendulum_2009/avr/vel_control.c
+++ b/linear_pendulum_2009/avr/vel_control.c
@@ -1,3 +1,10 @@
+/***************************************************************
+
+ Current regulation - Pontus Giselsson, Per-Ola Larsson 18/02/09
+ for LTH - reglerteknik
+
+/***************************************************************
+
#include <avr/twi.h>
#include <avr/io.h>
#include <avr/signal.h>
@@ -136,8 +143,6 @@ SIGNAL(SIG_OUTPUT_COMPARE0) {
sei(); // enable interrupts from encoder-counter
-
-
// Poll UART receiver
uint8_t status = UCSRA;
if (status & (1<<RXC)) {
@@ -155,8 +160,6 @@ SIGNAL(SIG_OUTPUT_COMPARE0) {
if (toSend >= 0) UDR = (char)toSend;
}
-
-
TIFR = (1<<OCF0); // skip pending interrupts from serial comm, (but not from ctrl)
TIMSK |= (BV(OCIE0)|BV(OCIE1A)); // reenable communication and ctrl-interrupts
@@ -183,7 +186,6 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
// ref = ref*(1-brake); // emergency stop
sei();
-
// control error
e = refCtrl-((velEst+16)>>5); // mm/s
@@ -225,15 +227,11 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
sei();
-
// TWI-communication to set current reference on the other atmel
// send start command
outp(BV(TWINT)|BV(TWEN)|BV(TWSTA),TWCR);
-
while (!(TWCR&BV(TWINT))) {}
-
-
// Contact slave
outp(0x02,TWDR); // slave is 0x02 (sla+w)
outp(BV(TWINT)|BV(TWEN),TWCR);
@@ -260,7 +258,6 @@ int main()
PORTD = 0x40; // pull up on reset switch
-
/* Timer section */
// Enable timer0, timer1, timer2 compare match interrupts
outp(BV(OCIE0)|BV(OCIE1A)|BV(OCIE2),TIMSK);
@@ -296,8 +293,7 @@ int main()
outp(0x18, UCSRB); // USART: RxEnable|TxEnable
outp(0x86, UCSRC); // USART: 8bit, no parity
outp(0x00, UBRRH); // USART: 115200 @ 14.7456MHz
- outp(7,UBRRL); // USART: 115200 @ 14.7456MHz
-
+ outp(7,UBRRL); // USART: 115200 @ 14.7456MHz
/* AREF (AREF is 5V) pin external capacitor, ADC3 for pendulum angle */
--
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