Add servo & potenciometr class

SW/CMakeLists.txt

@@ -29,6 +29,12 @@ add_definitions("-std=c++14")
 
 set(SOURCE_FILES
         main.cpp
+        irq.cpp
+        irq.h
+        Potenciometr.cpp
+        Potenciometr.h
+        servo.cpp
+        servo.h
 )
 
 include_directories(libs/src)

SW/Potenciometr.cpp

+
+#include "Potenciometr.h"
+
+Potenciometr potenciometr;

SW/Potenciometr.h

+#pragma once
+
+#include <stdint.h>
+
+#include <avr/io.h>
+
+class Potenciometr
+{
+    private:
+        enum
+        {
+            ADC_BUFFER_SIZE = 10
+        };
+
+        volatile uint8_t attempt;
+
+    public:
+        volatile uint16_t buffer[ADC_BUFFER_SIZE];
+        volatile uint16_t adc_value;
+
+    public:
+        Potenciometr()
+        {
+            adc_ini();
+        };
+
+        void adc_ini()
+        {
+            //55kHz, 2.56V reference
+            ADMUX  = (1<<REFS1) | (1<<REFS1);
+            ADCSRA = (1<<ADEN)  | (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1);
+
+            //cca 13Hz
+            TCCR0  = (1<<CS01) | (1<<CS00);
+            TIMSK |= (1<<TOIE0);
+        };
+
+        void irq_handler()
+        {
+            buffer[attempt++] = ADC;
+
+            if(attempt >= ADC_BUFFER_SIZE)
+            {
+                uint16_t adc_sum = 0;
+
+                for (uint8_t i = 0; i < ADC_BUFFER_SIZE; i++)
+                {
+                    adc_sum += buffer[i];
+                }
+
+                adc_value = adc_sum / ADC_BUFFER_SIZE;
+
+                attempt = 0;
+            }
+        };
+
+        void start_conversion()
+        {
+            ADCSRA |= (1<<ADSC);
+        };
+};
+
+extern Potenciometr potenciometr;

SW/irq.cpp

+
+#include "irq.h"
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include "Potenciometr.h"
+
+ISR(ADC_vect)
+{
+    potenciometr.irq_handler();
+}
+
+ISR(TIMER0_OVF_vect)
+{
+    potenciometr.start_conversion();
+}
+
+ISR(USART_RXC_vect)
+{
+
+}

SW/irq.h

+#pragma once
+
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+ISR(ADC_vect);
+ISR(TIMER0_OVF_vect);
+ISR(USART_RXC_vect);
+

SW/main.cpp

 #include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+
 #include "usart.h"
 
+#include "Potenciometr.h"
+#include "servo.h"
+
 static usart_regs registers
 {
         &UCSRA,
@@ -13,8 +19,33 @@ static usart_regs registers
 
 usart uart(registers);
 
+static servo_data blue_servo_data
+{
+        220,	//0°
+        2200,	//180°
+
+        10000,	//ICR_value
+        20000	//Pulse_duration
+};
+
+servo_class servoL(&DDRB, PB1, &OCR1A, blue_servo_data);
+servo_class servoR(&DDRB, PB2, &OCR1B, blue_servo_data);
+
+void servo_ini()
+{
+    TCCR1A |= (1<<COM1A1) | (1<<COM1B1) | (1<<WGM11);	//Fast PWM non-inverted
+    TCCR1B |= (1<<WGM13)  | (1<<WGM12)  | (1<<CS11);	//Prescaler 8 -> 7.03Hz
+
+    ICR1 = 10000;	//Top value -> 46.04Hz
+
+    servoL.set_angle(120);
+    servoR.set_angle(30);
+}
+
 int main(void)
 {
+    sei();
+
     uart.set_operating_mode(uart.ASYNCHRONOUS_NORMAL);
     uart.set_baudrate(115200);
     uart.set_data_bits(8);
@@ -24,8 +55,23 @@ int main(void)
 
     uart.transmit_string("\nServo headlight control\n");
 
+    servo_ini();
+
+    char angle;
+
     for(;;)
     {
+        angle = potenciometr.adc_value/5;
+
+        uart.transmit_dec32(potenciometr.adc_value);
+        uart.transmit_char('\t');
+        uart.transmit_dec32(angle);
+        uart.transmit_char(248);
+        uart.transmit_new_line();
+
+        servoL.set_angle(angle);
+        servoR.set_angle(angle);
 
+        _delay_ms(50);
     }
 }
\ No newline at end of file

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;
+	
+	//set_angle(90);
+}
+
+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 kontroln�ho pulzu v us
+	uint16_t min_duration;
+	uint16_t max_duration;
+	
+	//Parametry PWM
+	uint16_t ICR_value;
+	uint16_t pulse_duration; 
+};
+
+class servo_class
+{
+	//Prom�nn� 
+	private:
+		volatile uint8_t *ddr;
+				 uint8_t  bit;
+		volatile uint16_t *ocr;
+				 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; };
+};
+