Skip to content

GitLab

Commit b2bcd0e0 authored by Anders Blomdell's avatar Anders Blomdell
Browse files

Minor changes to make project compile with new version of 

avr toolchain.
parent e78ba71a
Hide whitespace changes
Inline Side-by-side
linear_pendulum_2009/avr/.gitignore 0 → 100644
View file @ b2bcd0e0
compiled
\ No newline at end of file
linear_pendulum_2009/avr/Makefile
View file @ b2bcd0e0
PROJECT=current_control
CHIP=atmega16
ARCH=avr
AVRSOURCE=
AVRAUTO=compiled/$(ARCH)/
AVRARCH=compiled/$(ARCH)/
LIB_TARGET=$(AVRARCH)lib$(TARGET).a
CC=$(ARCH)-gcc
CXX=$(ARCH)-gcc
CCFLAGS=-mmcu=$(CHIP) -O5 -I. -I$(AVRAUTO)
AS=$(ARCH)-as
ASFLAGS=-mmcu=$(CHIP)
AR=$(ARCH)-ar
LD=$(ARCH)-ld
OBJDUMP=$(ARCH)-objdump
LDFLAGS= -T $(CHIP).link
all: $(AVRARCH)$(PROJECT)
$(LIB_TARGET)(%.o): $(AVRSOURCE)%.c Makefile
$(CC) $(CCFLAGS) -c -o $(AVRARCH)$(%) -I$(AVRSOURCE) -I$(AVRAUTO) $(<)
$(AR) r $(@) $(AVRARCH)$(%)
rm $(AVRARCH)$(%)
$(LIB_TARGET)(%.o): $(AVRSOURCE)%.cc Makefile
$(CXX) $(CCFLAGS) -c -o $(AVRARCH)$(%) -I$(AVRSOURCE) -I$(AVRAUTO) $(<)
$(AR) r $(@) $(AVRARCH)$(%)
rm $(AVRARCH)$(%)
$(LIB_TARGET)(%.o): $(AVRSOURCE)%.s Makefile
$(AS) $(ASFLAGS) -o $(AVRARCH)$(%) $(AVRSOURCE)$(*).s
$(AR) r $(@) $(AVRARCH)$(%)
rm $(AVRARCH)$(%)
$(AVRARCH)%.o: $(AVRSOURCE)%.s Makefile
$(AS) $(ASFLAGS) -o $@ $(AVRSOURCE)$(*).s
$(AVRARCH)%.o: $(AVRSOURCE)%.c Makefile
$(CC) $(CCFLAGS) -c -o $@ -I. -I$(AVRAUTO) $<
$(AVRARCH)%: $(AVRARCH)%.o Makefile
$(CC) $(CCFLAGS) -o $@ $< -lm
$(AVRARCH)%.sr: all $(AVRARCH)%
avr-objcopy -O srec $(AVRARCH)/$(*) $@
%.sr: $(AVRARCH)%.sr
@/bin/true
%.load: compiled/avr/%.sr
# /work/andersb/atmel/uisp/uisp-0.2b/src/uisp \
# -dno-poll -dstk200 --erase --upload if=$(AVRARCH)/$(*).sr
uisp \
-dprog=stk200 \
--erase \
--upload if=compiled/avr/$*.sr
%.load.stk500: compiled/avr/%.sr
uisp \
-dprog=stk500 \
--erase \
--upload if=compiled/avr/$*.sr
%.dump: all $(AVRARCH)/%
$(OBJDUMP) -D $(AVRARCH)/$(*)
$(AVRARCH)fuse.sr: fuse.s
avr-gcc -o $(AVRARCH)fuse.o -c fuse.s
avr-objcopy -O srec $(AVRARCH)fuse.o $(AVRARCH)fuse.sr
fuse.load: $(AVRARCH)fuse.sr
uisp \
-dprog=stk200 \
--erase \
--segment=fuse \
--upload if=compiled/avr/fuse.sr
load.stk500: $(PROJECT).load.stk500
\ No newline at end of file
TARGETS=current_control vel_control
current_control.ARCH=avr
current_control.CHIP=atmega16
# 14.7456 MHz crystal, brown out
current_control.FUSE=--wr_fuse_l=0x1f --wr_fuse_h=0xd9 --wr_fuse_e=0xff
current_control.C=current_control
vel_control.ARCH=avr
vel_control.CHIP=atmega16
# 14.7456 MHz crystal, brown out
vel_control.FUSE=--wr_fuse_l=0x1f --wr_fuse_h=0xd9 --wr_fuse_e=0xff
vel_control.C=vel_control pccom
vel_control.H=pccom serialio_core
include ../../common/avr/Makefile.common
linear_pendulum_2009/avr/compileUploadCurrentControl.sh deleted 100755 → 0
View file @ e78ba71a
avr-gcc -mmcu=atmega16 -g -Wall -o current_control current_control.c
avr-objcopy -Osrec current_control current_control.sr
uisp -dprog=stk200 --erase --upload if=current_control.sr
\ No newline at end of file
linear_pendulum_2009/avr/compileUploadVelControl.sh deleted 100755 → 0
View file @ e78ba71a
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
linear_pendulum_2009/avr/current_control.c
View file @ b2bcd0e0
......@@ -6,11 +6,11 @@
***************************************************************
*/
#include <avr/twi.h>
#include <util/twi.h>
#include <avr/io.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include <compat/deprecated.h>
// control variables
......@@ -80,10 +80,10 @@ static inline void sendData() {
/* Timer 2 compare match interupt, 28.8 kHz, syncronized with pwm-period */
SIGNAL(SIG_OUTPUT_COMPARE2) {
SIGNAL(TIMER2_COMP_vect) {
// Start AD conversion
ADCSRA |= BV(ADSC);
ADCSRA |= _BV(ADSC);
// Read previous AD-conversion result
low = inp(ADCL);
......@@ -129,7 +129,7 @@ SIGNAL(SIG_OUTPUT_COMPARE2) {
// TWI-communication, recieve reference from velocity controller
if ((BV(TWINT)&inp(TWCR))) {
if ((_BV(TWINT)&inp(TWCR))) {
status = (inp(TWSR)&0xf8);
// status 0x80 means data recieved
if (status == 0x80) {
......@@ -138,7 +138,7 @@ SIGNAL(SIG_OUTPUT_COMPARE2) {
}
else {
}
outp(BV(TWINT)|BV(TWEN)|BV(TWEA),TWCR);
outp(_BV(TWINT)|_BV(TWEN)|_BV(TWEA),TWCR);
}
// For logging purposes
......@@ -176,8 +176,8 @@ int main()
/* Timer section */
// Timer 1, fast PWM no prescaling (non-inverting mode (start high, switch to low))
outp(BV(COM1B1)|BV(WGM11)|BV(WGM10),TCCR1A);
outp(BV(CS10)|BV(WGM13)|BV(WGM12),TCCR1B);
outp(_BV(COM1B1)|_BV(WGM11)|_BV(WGM10),TCCR1A);
outp(_BV(CS10)|_BV(WGM13)|_BV(WGM12),TCCR1B);
// Reset Timer1 and set TOP-value to 128 (means 7-bit pwm-signal-> 115.2 kHz)
outp(0x00,OCR1AH);
......@@ -190,13 +190,13 @@ int main()
/* Timer 2, 4 times pwm-period, for control sampling, prescaler 8, 28.8 kHz */
outp(BV(WGM21)|BV(CS21),TCCR2);
outp(_BV(WGM21)|_BV(CS21),TCCR2);
outp(0x3f,OCR2);
/* Reset timer 2 */
outp(0,TCNT2);
// Enable timer2 compare match interrupts
outp(BV(OCIE2),TIMSK);
outp(_BV(OCIE2),TIMSK);
//Serial communication
outp(0x00, UCSRA); // USART:
......@@ -206,16 +206,16 @@ int main()
outp(7,UBRRL); // USART: 115200 @ 14.7456MHz
/* AREF (AREF is 5V) pin external capacitor, MUX0 for current measurement */
outp(BV(REFS0)|BV(MUX0),ADMUX);
outp(_BV(REFS0)|_BV(MUX0),ADMUX);
// Enable ADC, start first conversion, prescaler 32, not free running mode
outp(BV(ADEN)|BV(ADSC)|BV(ADPS2)|BV(ADPS0),ADCSRA);
outp(_BV(ADEN)|_BV(ADSC)|_BV(ADPS2)|_BV(ADPS0),ADCSRA);
// Initialize TWI
outp(0x02,TWBR); // set SCL-frequency CPU-freq/(16+2*2)
outp(0x02,TWAR); // slave address
outp(BV(TWEA)|BV(TWEN),TWCR); // enable TWI, enable ACK
outp(_BV(TWEA)|_BV(TWEN),TWCR); // enable TWI, enable ACK
//Enable interrupts
sei();
......
linear_pendulum_2009/avr/pccom.c
View file @ b2bcd0e0
......@@ -69,7 +69,10 @@ void pccom_receiveByte(char ch)
case serialio_setchannel: {
switch (serialio_channel) {
case 0: {
setRef(serialio_value - (1L<<12));
setVelRef(serialio_value - (1L<<12));
} break;
case 1: {
setAccRef(serialio_value - (1L<<15));
} break;
}
} break;
......@@ -107,6 +110,10 @@ static uint8_t sendConfigPacket(uint8_t position)
case 13: CONF_ANALOG_OUT(0, CONF_MIN(CONF_NEGATIVE_VOLT(1))); break;
case 14: CONF_ANALOG_OUT(0, CONF_MAX(CONF_POSITIVE_VOLT(1))); break;
case 15: CONF_ANALOG_OUT(1, CONF_RESOLUTION(16)); break; // Reference to acc-ctrl
case 16: CONF_ANALOG_OUT(1, CONF_MIN(CONF_NEGATIVE_VOLT(1))); break;
case 17: CONF_ANALOG_OUT(1, CONF_MAX(CONF_POSITIVE_VOLT(1))); break;
default: CONF_END(); return 0;
}
......
linear_pendulum_2009/avr/serialio_core.h
View file @ b2bcd0e0
......@@ -137,6 +137,7 @@ static void serialio_putchannel(unsigned char channel, unsigned long value);
static volatile unsigned long serialio_value;
static volatile unsigned char serialio_channel, serialio_length;
__attribute__ ((unused))
static void serialio_putbit(unsigned char channel, unsigned char value)
{
if (value) {
......@@ -144,7 +145,7 @@ static void serialio_putbit(unsigned char channel, unsigned char value)
} else {
serialio_putchar(0x00 | (channel & 0x1f));
}
}
}
static void serialio_putchannel(unsigned char channel, unsigned long value)
{
......
linear_pendulum_2009/avr/vel_control.c
View file @ b2bcd0e0
......@@ -6,20 +6,21 @@
***************************************************************
*/
#include <avr/twi.h>
#include <util/twi.h>
#include <avr/io.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include <compat/deprecated.h>
#include "pccom.h"
#include "vel_control.h"
// reference variables
volatile int32_t ref = 0; // 11 frac bits
volatile int32_t ref = 0; // 11 frac bits (variable in mm/s, max 2^12)
volatile int32_t refCtrl = 0; // ref used in ctrl-loop (=ref sent from simulink)
volatile int32_t aRef = 0; // 14 frac bits (variable in mm/s, max 2^15)
volatile uint16_t nbrSamples = 0; // nbr of samples between ctrl-ref updates
// velocity control variables
volatile int32_t u = 0; // 11 frac bits
......@@ -93,9 +94,16 @@ int32_t getCurrentRef() {
}
/* Set new reference value */
void setRef(int32_t newRef) {
ref = newRef;
/* Set new acceleration reference value */
void setAccRef(int32_t newAccRef) {
aRef = newAccRef;
nbrSamples = 0;
}
/* Set new velocity reference value */
void setVelRef(int32_t newVelRef) {
ref = newVelRef;
}
/* Routine used to initialize the positional encoders */
......@@ -106,7 +114,7 @@ void initPos()
}
/* Timer 2, Encoder counter, 73 kHz updates position variable */
SIGNAL(SIG_OUTPUT_COMPARE2) {
SIGNAL(TIMER2_COMP_vect) {
// Update position from encoder
newX = ENCODERX;
......@@ -138,9 +146,9 @@ SIGNAL(SIG_OUTPUT_COMPARE2) {
/* Timer 0, serial communication with simulink */
SIGNAL(SIG_OUTPUT_COMPARE0) {
SIGNAL(TIMER0_COMP_vect) {
TIMSK &= ~(BV(OCIE0)|BV(OCIE1A)); // Disable communication and ctrl-interrupts
TIMSK &= ~(_BV(OCIE0)|_BV(OCIE1A)); // Disable communication and ctrl-interrupts
sei(); // enable interrupts from encoder-counter
......@@ -163,14 +171,14 @@ SIGNAL(SIG_OUTPUT_COMPARE0) {
TIFR = (1<<OCF0); // skip pending interrupts from serial comm, (but not from ctrl)
TIMSK |= (BV(OCIE0)|BV(OCIE1A)); // reenable communication and ctrl-interrupts
TIMSK |= (_BV(OCIE0)|_BV(OCIE1A)); // reenable communication and ctrl-interrupts
}
/* Timer 0, control loop , 1 kHz */
SIGNAL(SIG_OUTPUT_COMPARE1A) {
SIGNAL(TIMER1_COMPA_vect) {
posCtrl = pos; // store pos to use in this loop
......@@ -183,7 +191,11 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
// store velEst and ref to be sent/used here
cli();
velEstSend = velEst;
refCtrl = ref;
nbrSamples++;
refCtrl = ref+((aRef*nbrSamples)>>10); //shift nbrSamples 10 steps (= nbrSamples*h)
if (nbrSamples > 500) {
refCtrl = 0; // for safety reasons if doesn't send anything in 0.5 s
}
// ref = ref*(1-brake); // emergency stop
sei();
......@@ -230,21 +242,21 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
// 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))) {}
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);
while (!(TWCR&BV(TWINT))) {}
outp(_BV(TWINT)|_BV(TWEN),TWCR);
while (!(TWCR&_BV(TWINT))) {}
// Send reference byte to slave
outp((int8_t)u,TWDR); // send 8 bits reference
outp(BV(TWINT)|BV(TWEN),TWCR);
while (!(TWCR&BV(TWINT))) {}
outp(_BV(TWINT)|_BV(TWEN),TWCR);
while (!(TWCR&_BV(TWINT))) {}
// stop transmission
outp(BV(TWINT)|BV(TWEN)|BV(TWSTO),TWCR);
outp(_BV(TWINT)|_BV(TWEN)|_BV(TWSTO),TWCR);
}
......@@ -261,26 +273,26 @@ int main()
/* Timer section */
// Enable timer0, timer1, timer2 compare match interrupts
outp(BV(OCIE0)|BV(OCIE1A)|BV(OCIE2),TIMSK);
outp(_BV(OCIE0)|_BV(OCIE1A)|_BV(OCIE2),TIMSK);
/* Timer 2, 73 kHz Prescaler 1, encoder counter for position measurement */
outp(BV(WGM21)|BV(CS20),TCCR2);
outp(_BV(WGM21)|_BV(CS20),TCCR2);
outp(200,OCR2);
/* Reset timer 2 */
outp(0,TCNT2);
/* Timer 1, 1 kHz , prescaler 1, ctrl-loop */
outp(BV(WGM12)|BV(CS10),TCCR1B);
outp(0x39,OCR1AH);
outp(0x7f,OCR1AL);
outp(_BV(WGM12)|_BV(CS10),TCCR1B);
outp(0x38,OCR1AH);
outp(0x3f,OCR1AL);
outp(0,TCNT1H);
outp(0,TCNT1L);
/* Timer 0, 40 kHz, Prescaler 8, serial communication */
outp(BV(WGM01)|BV(CS01),TCCR0);
outp(_BV(WGM01)|_BV(CS01),TCCR0);
//outp(184-1,OCR0); // 10 kHz
outp(46-1,OCR0); // 40 kHz
outp(45-1,OCR0); // 40 kHz
/* Reset timer 0 */
outp(0,TCNT0);
......@@ -298,15 +310,15 @@ int main()
/* AREF (AREF is 5V) pin external capacitor, ADC3 for pendulum angle */
outp(BV(REFS0)|BV(MUX0)|BV(MUX1),ADMUX);
outp(_BV(REFS0)|_BV(MUX0)|_BV(MUX1),ADMUX);
// Enable ADC on adc3, start first conversion, prescaler 128, free running mode
outp(BV(ADEN)|BV(ADSC)|BV(ADATE)|BV(ADPS2)|BV(ADPS1)|BV(ADPS0),ADCSRA);
outp(_BV(ADEN)|_BV(ADSC)|_BV(ADATE)|_BV(ADPS2)|_BV(ADPS1)|_BV(ADPS0),ADCSRA);
// Initialize Master TWI
outp(0x10,TWBR); // set SCL-frequency CPU-freq/(16+2*16)
outp(BV(TWEN),TWCR); // enable TWI
outp(_BV(TWEN),TWCR); // enable TWI
// initialize position measurements
initPos();
......
linear_pendulum_2009/avr/vel_control.h
View file @ b2bcd0e0
......@@ -2,7 +2,8 @@
#define __vel_control_h
void setRef(int32_t newRef);
void setVelRef(int32_t newVelRef);
void setAccRef(int32_t newAccRef);
int32_t getPosition();
int32_t getVelocity();
int16_t getAngle();
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment