P-Current control sampling rate 0.5ms

linear_pendulum_2009/avr/Makefile

+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

linear_pendulum_2009/avr/compile.sh

+avr-gcc -mmcu=atmega16 -g -Wall -o current_control current_control.c
\ No newline at end of file

linear_pendulum_2009/avr/compileUpload.sh

+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/current_control.c

+/*********************************************
+
+ Current regulation - Aleks Ponjavic 18/09/07
+           for LTH - reglerteknik
+
+   Note that the voltage is actually a duty
+   cycle for the PWM. The PWM is running at
+  12V with a duty cycle set by a 10bit value
+
+*********************************************/
+
+//#include <math.h>		//Only include if sin will be used, takes up memory!
+#include <avr/io.h>
+#include <avr/signal.h>
+#include <avr/interrupt.h>
+#include <inttypes.h>
+
+volatile int16_t ref = 20;
+volatile int16_t refCount = 0;
+volatile int8_t refFlag = 0;
+volatile uint8_t alt = 1;
+
+
+/* Routine used to set the red LED */
+void setLED(uint8_t on)
+{
+  if (on) PORTB &= 0x7f;	//Turn on
+  else PORTB |= 0x80;	//Turn off
+}
+
+/* Routine used to set pin PD7 */
+void setPA4(uint8_t on)
+{
+  if (on == 0) PORTA &= 0xef;	//Turn off
+  else PORTA |= 0x10;	//Turn on
+}
+
+/* Routine used to transmit bytes on the serial port */
+static void putchar(unsigned char ch)
+{
+	while ((inp(UCSRA) & 0x20) == 0) {};
+	outp(ch, UDR);
+	while ((inp(UCSRA) & 0x20) == 0) {};
+}
+
+/* Interrupt service routine for handling incoming bytes on the serial port 
+ might be needed to catch incoming bytes */
+SIGNAL(SIG_UART_RECV){}
+/* Read 10-bit input using the AD converter */
+static inline int16_t readInput() {
+  uint8_t low, high;
+  ADCSRA |= 0x40;
+  while (ADCSRA & 0x40);
+  low = ADCL;
+  high = ADCH;
+  return ((high<<8) | low) - 512;
+}
+
+
+/* Write 8-bit output using the PWM-generator */
+static inline void writeOutput(int16_t val) {
+  if (val < 0) {
+    PORTC = 0x80+(PORTC & 0x7F);
+    OCR1BH = 0;    //(unsigned char) (-val)&0xff00;
+    OCR1BL = (unsigned char) (-val)&0x00ff;
+  } else {
+    PORTC = (PORTC & 0x7F);
+    OCR1BH = 0;    //(unsigned char) (val&0xff00);
+    OCR1BL = (unsigned char) (val&0x00ff);
+  }
+
+  //unsigned char lbyte,hbyte;
+  //hbyte = ((val & 0xff00)>>8);	//Get ADC result high byte
+  //lbyte = ((val & 0x00ff));	//Get ADC result low byte
+
+  //putchar(hbyte);
+  //putchar(lbyte);
+}
+
+
+/* Periodic timer interrupt */
+SIGNAL(SIG_OUTPUT_COMPARE2)
+{
+  
+
+  // PORTA &= 0xef;
+  unsigned char lbyte,hbyte;  
+  int16_t result;
+  int16_t ctrl; 
+  int16_t ctrl_out;
+  int16_t temp;
+  
+  setPA4(alt);
+
+  result = readInput();
+
+  setPA4(0);  
+
+  result = result*3; //!!!!!!!!!!!!!!!!!!!!!!!
+
+  // Compensate for offset in measurements
+  // result += 13;
+
+  //hbyte = (((ref-result) & 0xff00)>>8);	//Get ADC result high byte
+  //lbyte = (((ref-result) & 0x00ff));	        //Get ADC result low byte
+  
+  // Transmit data
+  //putchar(hbyte);	//high byte
+  //putchar(lbyte);	//low byte
+
+  //hbyte = ((result & 0xff00)>>8);	//Get ADC result high byte
+  //lbyte = ((result & 0x00ff));	//Get ADC result low byte
+  
+  // Transmit data
+  //putchar(hbyte);	//high byte
+  //putchar(lbyte);	//low byte
+  
+  // control
+  ctrl = ref-result;
+  ctrl = ((ctrl + (1<< 2)) >> 3);
+  
+  //saturation/rounding to 8 bit
+  if (ctrl > 127)
+    ctrl_out = 127;
+  else if (ctrl < -128)
+    ctrl_out = -128;
+  else
+    ctrl_out = ctrl;
+ 
+  //writeOutput(ctrl_out);
+  writeOutput(ref);
+
+
+ 
+  temp = (int16_t) ctrl_out;
+  hbyte = ((temp & 0xff00)>>8);	//Get ADC result high byte
+  lbyte = ((temp & 0x00ff));	//Get ADC result low byte
+  putchar(hbyte); 
+  putchar(lbyte);
+ 
+}
+
+
+/* reference square- or triangle wave generator with timer 0 */
+SIGNAL(SIG_OVERFLOW0) {
+  int8_t rectangle = 1;
+  refCount++;
+  if (rectangle == 1) {
+    if (refFlag == 0) {
+      if (refCount == 10) {
+	refFlag = 1;
+	ref = -ref;
+	refCount = 0;
+      }
+    } else {
+      if (refCount == 20) {
+	ref = -ref;
+	refCount = 0;
+      }
+    }
+  } else {
+    if (refCount <= 400) {  // ref*2
+      ref -= 1;
+    } else {
+      ref += 1;
+    }
+    if (refCount == 800) { // ref*4
+      refCount = 0;
+    }
+  }
+}
+
+
+int main()
+{
+  int i,j;
+  
+  //Port directions
+  outp(0x80,PORTB); // LED off
+  outp(0x80,DDRB);  // output on LED
+  outp(0x08,PORTC); // pull up on overtemp signals
+  outp(0xa0,DDRC);  // output on dir and brake
+  outp(0x80,PORTD); // pull up on reset switch
+  outp(0x10,DDRD);  // output on pwm for motor 1
+  
+  outp(0x10,DDRA);  // test pin output
+
+  /* Timer section */
+  // Enable TCNT2 (timer2) compare match interrupts, and timer0 overflow interrupts
+  outp(BV(OCIE2)|BV(TOIE0),TIMSK);
+  
+  /* Timer 1, 8 bit fast PWM no prescaling -> h_pwm=17.35 micros */
+  outp(BV(COM1A1)|BV(COM1B1)|BV(WGM10),TCCR1A);
+  // Fast PWM
+  // outp(BV(WGM12)|BV(CS10),TCCR1B);
+  // Phase and frequency correct pwm
+  outp(BV(CS10),TCCR1B);
+  /* Reset Timer1*/
+  
+  //outp(0x00,TCNT1H);   		// Reset TCNT1 high
+  //outp(0x00,TCNT1L);		// Reset TCNT1 low
+
+  
+  
+  /* Timer 2 (control loop), prescaler 256, clear on compare match (28), -> h = 0.5 ms */
+  outp(BV(WGM21)|BV(CS22)|BV(CS21),TCCR2);
+  outp(28,OCR2);
+  /* Reset timer 2 */
+  outp(0,TCNT2);
+
+  /* Timer 0 for reference generation, prescaler = 1024 periodic h = ? */
+  outp(BV(CS02)|BV(CS00),TCCR0);
+  
+  //Serial communication
+  outp(0x00, UCSRA);	// USART:
+  outp(0x98, UCSRB);	// USART: RxIntEnable|RxEnable|TxEnable
+  outp(0x86, UCSRC);	// USART: 8bit, no parity
+  outp(0x00, UBRRH);	// USART: 115200 @ 14.7456MHz
+  outp(7,UBRRL);	// USART: 115200 @ 14.7456MHz
+  
+
+  /* AREF (AREF is 5V) pin external capacitor, MUX0 for current, MUX3?? for pendulum angle */
+  outp(BV(REFS0)|BV(MUX0),ADMUX); 	
+  
+  // Enable ADC interrupts, start first conversion (what do adps0-2 do), prescaler 128
+  // outp(BV(ADEN)|BV(ADSC)|BV(ADPS2)|BV(ADPS1)|BV(ADPS0),ADCSRA);
+  // Enable ADC interrupts, start first conversion (what do adps0-2 do), prescaler 8
+  // outp(BV(ADEN)|BV(ADSC)|BV(ADPS1)|BV(ADPS0),ADCSRA);
+
+  // Enable ADC interrupts, start first conversion (what do adps0-2 do), prescaler 64
+  outp(BV(ADEN)|BV(ADSC)|BV(ADPS2)|BV(ADPS1),ADCSRA);
+
+  // outp(BV(ADEN)|BV(ADSC),ADCSRA);
+  
+  /* Wait a little bit, probably not needed...*/
+  int tmp;
+  for(i=0;i<2000;i++) 
+    for(j=0;j<400;j++)
+      tmp = j*j*j;
+  
+
+  //Enable interrupts
+  sei();
+
+  // loop
+  while (1) {}
+}