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Commit b2bcd0e0 authored by Anders Blomdell's avatar Anders Blomdell
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Minor changes to make project compile with new version of 

avr toolchain.
parent e78ba71a
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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();
......
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