cleaned up software and implemented (untested) servo control
This commit is contained in:
Lucas Pleß
parent
ed8753a873
commit
12f32ff3bf
|
|
@ -3,6 +3,7 @@
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@ -91,8 +115,6 @@
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@ -107,9 +129,12 @@
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@ -223,10 +286,6 @@
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@ -242,7 +301,7 @@
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@ -450,7 +509,6 @@
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@ -571,6 +630,73 @@
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@ -623,7 +749,7 @@
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</state>
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<state key="ModuleStructureConfigurable.UI">
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<settings>
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<last-edited>displayboard</last-edited>
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<last-edited>displayboard_servo</last-edited>
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@ -1,6 +0,0 @@
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Binary file not shown.
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@ -10,20 +10,21 @@
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|||
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#define BUFSIZE 40
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||||
#define CURRENT_MAX 30000 // 30 Ampere is max
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#define POWER_MAX 300
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#define SERVO_NEUTRAL 2312
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#define SERVO_MIN 2312
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#define SERVO_MAX 2312
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volatile uint16_t syscounter = 0;
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||||
volatile uint8_t digitbuffer[6] = { 0,0,0,0,0,0 };
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volatile uint8_t leddigitbuffer[4] = { 0,0,0,0 };
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uint8_t digit = 0;
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||||
uint8_t leddigit = 0;
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||||
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||||
// values send over uart from powerboard
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||||
uint16_t voltage = 0;
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||||
int16_t current_in = 0;
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||||
int16_t current_out = 0;
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||||
uint8_t dumpsw = 0; //TODO: make bitfield
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||||
uint8_t loadsw = 0; //TODO: make bitfield
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||||
uint8_t gensw = 0; //TODO: make bitfield
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uint8_t dumpsw = 0;
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uint8_t loadsw = 0;
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||||
uint8_t gensw = 0;
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uint16_t display = 0;
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uint16_t power_gen = 0;
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||||
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@ -33,62 +34,22 @@ unsigned char data_count = 0;
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unsigned char data_in[BUFSIZE];
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char command_in[BUFSIZE];
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63, 6, 91, 79, 102, 109, 125, 7, 127, 111
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0x00, 0x01, 0x03, 0x07, 0x0f, 0x1f, 0x3f, 0x7f, 0xff
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{ 0xc0, 0x00}
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//static void timer_init(void) {
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static void timer_init(void) {
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||||
// clock is 8MHz
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||||
//TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10) ; // CTC Mode for Timer 1 (16Bit) with prescale of 64
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||||
//OCR1A = 250; // 500Hz
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||||
//TIMSK = _BV(OCIE1A);
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||||
//sei(); // enable interrupts
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||||
//}
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||||
// Timer init
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||||
ISR( TIMER1_COMPA_vect ) // Interruptbehandlungsroutine
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{
|
||||
OCR1A = 2500-OCR1A; // Das Servosignal wird aus der Differenz von
|
||||
// Periodenlänge (2500*0,008ms=20ms) und letztem
|
||||
// Vergleichswert (OCR1A) gebildet
|
||||
TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10); // CTC Mode for Timer 1 (16Bit) with prescale of 64
|
||||
OCR1A = 2312; // Neutralposition ((2500-2312)*0.008ms)=1,5ms)
|
||||
TIMSK = _BV(OCIE1A);
|
||||
TCCR1A = (1<<COM1A0); // Togglen bei Compare Match
|
||||
|
||||
sei(); // enable interrupts
|
||||
}
|
||||
|
||||
static void ports_init(void) {
|
||||
// make column / digit driver pins to output
|
||||
DDRB = 0b11111100;
|
||||
PORTB = (1<<PB1) | (1<<PB0); // Pullup für PB0 und PB1
|
||||
|
||||
TCCR1A = (1<<COM1A0); // Togglen bei Compare Match
|
||||
TCCR1B = (1<<WGM12) | (1<<CS11); // CTC-Mode; Prescaler 8
|
||||
TIMSK = (1<<OCIE1A); // Timer-Compare Interrupt an
|
||||
// make data ports to output
|
||||
|
||||
}
|
||||
|
||||
void process_command() {
|
||||
static void process_command() {
|
||||
if(strstr(command_in,"A") != NULL) {
|
||||
// we have an A and B (from check in work_uart()
|
||||
// so our message should be complete and consist of:
|
||||
|
|
@ -143,9 +104,9 @@ void process_command() {
|
|||
}
|
||||
}
|
||||
|
||||
static void work_uart(){
|
||||
unsigned int c = uart_getc();
|
||||
}
|
||||
static void work_uart() {
|
||||
|
||||
uint8_t c = uart_getc();
|
||||
|
||||
if ( !(c & UART_NO_DATA) ) {
|
||||
data_in[data_count] = c;
|
||||
|
|
@ -162,70 +123,49 @@ static void work_uart(){
|
|||
}
|
||||
}
|
||||
}
|
||||
static void set_servo(uint16_t value){
|
||||
|
||||
/// magic need to happen hear
|
||||
display = value;
|
||||
/// magic end
|
||||
OCR1A = display;
|
||||
sei();
|
||||
static void set_servo(uint8_t power) {
|
||||
|
||||
uint8_t display = 0;
|
||||
|
||||
display = power * 10; // shift, since we have to divide by 2,4 (24)
|
||||
display = display / 24; // instead of dividing by 2,4
|
||||
display = display + 125;
|
||||
|
||||
OCR1A = 2500-display;
|
||||
}
|
||||
|
||||
|
||||
static void demo_display(void) {
|
||||
|
||||
for(uint8_t i = 0; i< 16;i++) {
|
||||
leddigitbuffer[0] = bigbar_translate[i][0];
|
||||
leddigitbuffer[1] = bigbar_translate[i][1];
|
||||
for(uint8_t i = 0; i< 30;i++) {
|
||||
set_servo(i*10);
|
||||
wait(5);
|
||||
}
|
||||
|
||||
for(uint8_t i = 0; i< 9;i++) {
|
||||
leddigitbuffer[2] = smallbar_translate[i];
|
||||
wait(5);
|
||||
}
|
||||
|
||||
for(uint8_t i = 0; i< 9;i++) {
|
||||
leddigitbuffer[3] = smallbar_translate[i];
|
||||
wait(5);
|
||||
}
|
||||
|
||||
for(uint8_t j = 0; j< 3;j++) {
|
||||
for(uint8_t i = 0; i< 6; i++) {
|
||||
digitbuffer[i] = 0xff;
|
||||
}
|
||||
wait(20);
|
||||
for(uint8_t i = 0; i< 6; i++) {
|
||||
digitbuffer[i] = 0x00;
|
||||
}
|
||||
wait(20);
|
||||
}
|
||||
|
||||
for(uint8_t i = 0; i< 3;i++) {
|
||||
leddigitbuffer[i] = 0x00;
|
||||
}
|
||||
for(uint8_t i = 30; i> 0;i--) {
|
||||
set_servo(i*10);
|
||||
wait(5);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
int main(void) {
|
||||
|
||||
ports_init();
|
||||
timer_init();
|
||||
uart_init(UART_BAUD_SELECT(19200,F_CPU));
|
||||
memset(data_in, 0, BUFSIZE);
|
||||
|
||||
|
||||
demo_display();
|
||||
|
||||
while(1) {
|
||||
|
||||
work_uart();
|
||||
|
||||
if(syscounter >= 100) {
|
||||
if(syscounter >= 10) {
|
||||
uart_putc('a'); // send a to receive values
|
||||
set_servo(power_gen)
|
||||
|
||||
|
||||
|
||||
set_servo(power_gen);
|
||||
syscounter = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -233,22 +173,12 @@ int main(void) {
|
|||
return(0);
|
||||
}
|
||||
|
||||
// system timer
|
||||
SIGNAL(TIMER1_COMPA_vect) {
|
||||
syscounter++;
|
||||
|
||||
// output to sevensegment and leds
|
||||
// make this here to reduce display flicker
|
||||
digit++;
|
||||
if(digit >5) digit = 0;
|
||||
leddigit++;
|
||||
if(leddigit >3) leddigit = 0;
|
||||
|
||||
SEVENSEG_PORT = digitbuffer[digit];
|
||||
SEVENSEGDIG_PORT = _BV(digit+DIG0);
|
||||
|
||||
LED_PORT = leddigitbuffer[leddigit];
|
||||
LEDDIG_PORT = _BV(leddigit);
|
||||
OCR1A = 2500-OCR1A; // Das Servosignal wird aus der Differenz von
|
||||
// Periodenlänge (2500*0,008ms=20ms) und letztem
|
||||
// Vergleichswert (OCR1A) gebildet
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,28 +1,7 @@
|
|||
#ifndef _main_h
|
||||
#define _main_h
|
||||
|
||||
#define SEVENSEG_PORT PORTA
|
||||
#define SEVENSEG_DDR DDRA
|
||||
|
||||
#define LED_PORT PORTC
|
||||
#define LED_DDR DDRC
|
||||
|
||||
#define DIG0 PD2
|
||||
#define DIG1 PD3
|
||||
#define DIG2 PD4
|
||||
#define DIG3 PD5
|
||||
#define DIG4 PD6
|
||||
#define DIG5 PD7
|
||||
#define LEDS_MID1 PB0
|
||||
#define LEDS_MID2 PB1
|
||||
#define LEDS_LOAD PB2
|
||||
#define LEDS_GEN PB3
|
||||
|
||||
#define SEVENSEGDIG_PORT PORTD
|
||||
#define SEVENSEGDIG_DDR DDRD
|
||||
|
||||
#define LEDDIG_PORT PORTB
|
||||
#define LEDDIG_DDR DDRB
|
||||
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue