Working UART, ADC, motor sensing, servo

SW/CMakeLists.txt

@@ -35,6 +35,16 @@ set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-Wl,--gc-sections -Wl,--relax -Os -mrela
 
 set(SOURCE_FILES
         main.cpp
+        servo.h
+        servo.cpp
+        lib/adc.h
+        lib/adc.cpp
+        lib/usart.h
+        lib/usart.cpp
+        Controller.h
+        Controller.cpp
+        irq.h
+        irq.cpp
 )
 
 #include_directories(libs/src)

SW/Controller.cpp

+//
+// Created by martin.vitek on 10.7.16.
+//
+
+#include "Controller.h"
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+#include "servo.h"
+
+Controller controller;
+
+static servo_data blue_servo_data
+{
+        220,	//0°
+        2200,	//180°
+
+        5000,	//ICR_value
+        17366	//Pulse_duration
+};
+
+static usart_regs uart_regs
+{
+    &UCSRA,
+    &UCSRB,
+    &UCSRC,
+    &UDR,
+    &UBRRL,
+    &UBRRH
+};
+
+Controller::Controller(): servo(&DDRB, PB1, &OCR1A, blue_servo_data),
+                          adc(),
+                          uart(uart_regs)
+{
+    //Servo ini
+    TCCR1A |= (1<<COM1A1) | (1<<COM1B1) | (1<<WGM11);	//Fast PWM non-inverted
+    TCCR1B |= (1<<WGM13)  | (1<<WGM12)  | (1<<CS11) | (1<<CS10);	//Prescaler 64
+
+    ICR1 = 4000;	//Top value
+
+    //UART ini
+    uart.set_operating_mode(uart.ASYNCHRONOUS_NORMAL);
+    uart.set_baudrate(115200);
+    uart.set_data_bits(8);
+    uart.set_stop_bits(1);
+    uart.enable_reciver();
+    uart.enable_trasmitter();
+
+    //ADC ini
+    DDRC = 0;
+    PORTC = 0;
+    ADMUX  = (1<<REFS1) | (1<<REFS0);
+    ADCSRA = (1<<ADEN) | (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0);
+    //adc.set_reference_voltage(adc.INTERNAL_REFERENCE);  //2.56V
+    //adc.set_prescaler(adc.PRESCALER_128);               //115kHz
+    //adc.enable_interrupt();
+    //adc.set_channel(adc.ADC0);
+    //adc.enable_adc();
+
+    //TCC0 ini
+    TCCR0 = (1<<CS02);  //225Hz
+    TIMSK |= (1<<TOIE0);
+
+    sei();
+}
+
+void Controller::print_debug()
+{
+    uart.transmit_string("P: ");
+    uart.transmit_dec32(current_positive);
+    uart.transmit_string("\tN: ");
+    uart.transmit_dec32(current_negative);
+    uart.transmit_new_line();
+}
\ No newline at end of file

SW/Controller.h

+#pragma once
+
+#include "servo.h"
+#include "lib/adc.h"
+#include "lib/usart.h"
+
+//Working from 25° to 140°
+
+class Controller
+{
+    //Enums
+    public:
+        enum servo_positions
+        {
+            OPEN_POSITION  = 40,
+            CLOSE_POSITION = 120
+        };
+
+    //Instances
+    public:
+        servo_class servo;
+        adc_class adc;
+        usart uart;
+
+    //Variables
+    public:
+        volatile uint16_t current_positive;
+        volatile uint16_t current_negative;
+        volatile uint8_t  channel;
+
+    //Methods
+    public:
+        Controller();
+
+        void timer0_handler()
+        {
+            adc.start_conversion();
+        }
+
+        void adc_handler()
+        {
+            switch (channel)
+            {
+                case 0: current_positive = ADC;
+                        channel++;
+                        adc.set_channel(adc.ADC1);
+                        adc.start_conversion();
+                    break;
+
+                case 1: current_negative = ADC;
+                        channel = 0;
+                        adc.set_channel(adc.ADC0);
+
+                default: channel = 0;
+                    break;
+            }
+        }
+
+        void print_debug();
+};
+
+extern Controller controller;

SW/irq.cpp

+
+#include "irq.h"
+
+#include <avr/interrupt.h>
+
+#include "Controller.h"
+
+ISR(TIMER0_OVF_vect)
+{
+    controller.timer0_handler();
+}
+
+ISR(ADC_vect)
+{
+    controller.adc_handler();
+}
+
+ISR(BADISR_vect)
+{
+    reti();
+}
\ No newline at end of file

SW/irq.h

+#pragma once
+
+#include <avr/interrupt.h>
+
+ISR(TIMER0_OVF_vect);
+ISR(ADC_vect);
+ISR(BADISR_vect);
\ No newline at end of file

SW/main.cpp

 #include <avr/io.h>
+#include <util/delay.h>
 
 //#include "gpio.h"
 
+#include "Controller.h"
+
+//Working from 25° to 140°
 
 int main()
 {
+    controller.uart.transmit_string("\n\rGate Servo Controller\n\r");
+    controller.servo.set_angle(60);
 
 
     for(;;)
     {
-
+        controller.print_debug();
+        _delay_ms(200);
     }
 }

SW/servo.cpp

+/*
+ * sevoclass.cpp
+ *
+ *  Created on: 27. 6. 2014
+ *      Author: martin.vitek
+ */
+
+#include "servo.h"
+#include <avr/io.h>
+#include <stdint.h>
+
+servo_class::servo_class(volatile uint8_t *ddr, 
+								  uint8_t  bit,
+						 volatile uint16_t *ocr,
+						 servo_data &data):data(data)
+{
+	this->ddr  = ddr;
+	this->bit  = bit;
+	this->ocr  = ocr;
+
+	*ddr |= (1<<bit);
+	
+	this->data = data;
+	
+	one_step = data.pulse_duration / data.ICR_value;
+	one_degree_pulse = (data.max_duration - data.min_duration) / 180;
+}
+
+servo_class::~servo_class()
+{
+	*ddr &= ~(1<<bit);
+}
+
+void servo_class::set_angle(uint8_t angle)
+{
+		 if (angle < 0)   current_angle = 0;
+	else if (angle > 180) current_angle = 180;
+	else				  current_angle = angle;
+
+	*ocr = (data.min_duration + (one_degree_pulse * current_angle) ) / one_step;
+}

SW/servo.h

+/*
+ * sevoclass.h
+ *
+ *  Created on: 27. 6. 2014
+ *      Author: martin.vitek
+ */
+
+#pragma once
+
+#include <avr/io.h>
+#include <math.h>
+#include <stdint.h>
+
+struct servo_data
+{
+	//Min a max doba kontrolniho pulzu v us
+	uint16_t min_duration;
+	uint16_t max_duration;
+	
+	//Parametry PWM
+	uint16_t ICR_value;
+	uint16_t pulse_duration; 
+};
+
+class servo_class
+{
+	//Promenne
+	private:
+		volatile uint8_t *ddr;
+				 uint8_t  bit;
+		volatile uint16_t *ocr;
+				 volatile uint8_t  current_angle;
+				 
+				 servo_data &data;
+				 uint8_t one_step;
+				 uint8_t one_degree_pulse;
+
+	//Metody
+	public:
+		//Konstruktor
+		servo_class(volatile uint8_t *ddr, uint8_t  bit, volatile uint16_t *ocr, servo_data &data);
+
+		//Destruktor
+		~servo_class();
+		
+		//Metody
+		void set_angle(uint8_t angle);
+		uint8_t get_angle() { return current_angle; };
+};
+