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switched to fast PWM, added workaround for UART transmission errors

This commit is contained in:
Christian Kroll 2014-06-15 04:27:26 +02:00
parent 1752f5a0a1
commit 39796a93be
2 changed files with 107 additions and 124 deletions
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225
schaltungen/displayboard_servo/software/src/main.c
View File

@ -8,58 +8,68 @@
#include "main.h" #include "main.h"
#include "uart.h" #include "uart.h"
#define POWER_MIN 0 #define POWER_MIN 0
#define POWER_MAX 400 #define POWER_MAX 400
#define SERVO_STEPS 125 #define SERVO_STEPS 125
#define BUFSIZE 10 #define BUFSIZE 10
/* ugly workaround for massive out of sequence power values,
* USART code seems to forget characters from time to time */
#define MAX_ALLOWED_DEVIATION 50
#define MAX_FAILS 3
#define DEBUG2 #define DEBUG2
volatile uint16_t syscounter = 0; volatile uint16_t syscounter = 0;
volatile uint16_t power;
uint8_t data_count = 0; uint8_t data_count = 0;
char data_in[BUFSIZE]; char data_in[BUFSIZE];
volatile uint16_t current_pulse_width = 250;
void reset_input_buffer(void) { void reset_input_buffer(void) {
data_count = 0; data_count = 0;
memset(data_in, 0, BUFSIZE); memset(data_in, 0, BUFSIZE);
} }
static void timer_init(void) { static void timer_init(void) {
// CTC Mode for Timer 1 (16Bit) with prescale of 64 // set Timer 1 to fast PWM mode, with prescale of 64, clear OC1A as soon as
TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10); // TCNT1 reaches OCR1A, set OC1A as soon as it reaches ICR1
OCR1A = 2250; // set Servo to max. position // NOTE: one tick is equivalent to 8 usecs
TIMSK |= _BV(OCIE1A); // enable timer interrupt TCCR1A = _BV(COM1A1) | _BV(WGM11);
TCCR1A |= _BV(COM1A0); // toggle OCR1A on overflow TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS11) | _BV(CS10);
ICR1 = 2500; // period of 20 msecs
OCR1A = 250; // inital pulse width of 2 msecs (10% duty cycle)
TIMSK |= _BV(TOIE1); // enable overflow interrupt
// CTC Mode for Timer 0 (8Bit) with prescale of 1024 // CTC Mode for Timer 0 (8Bit) with prescale of 1024
TCCR0B |= _BV(CS02) | _BV(CS00); // prescaler TCCR0B |= _BV(CS02) | _BV(CS00); // prescaler
TCCR0A |= _BV(WGM01); // CTC mode TCCR0A |= _BV(WGM01); // CTC mode
TIMSK |= _BV(OCIE0A); // enable timer interrupt TIMSK |= _BV(OCIE0A); // enable timer interrupt
OCR0A = 78; // gives us ~100ms interval OCR0A = 78; // gives us ~100ms interval
} }
static void ports_init(void) { static void ports_init(void) {
DDRB |= _BV(PB3); DDRB |= _BV(PB3);
} }
static void work_uart() { static void work_uart() {
uint16_t c = uart_getc(); static uint16_t power;
static uint8_t fail_counter = 0;
uint16_t new_power = 0, diff = 0;
uint16_t c = uart_getc();
if ( !(c & UART_NO_DATA) ) { if ( !(c & UART_NO_DATA) ) {
char cur = c & 0xff; char cur = c & 0xff;
data_in[data_count] = cur; data_in[data_count] = cur;
//uart_print_uint8(cur); //uart_print_uint8(cur);
data_count++; data_count++;
if(data_count >= BUFSIZE) { // buffer overflow if(data_count >= BUFSIZE) { // buffer overflow
reset_input_buffer(); reset_input_buffer();
} }
#ifdef DEBUG1 #ifdef DEBUG1
for(uint8_t i=0;i<BUFSIZE;i++) { for(uint8_t i=0;i<BUFSIZE;i++) {
uart_print_uint8(data_in[i]); uart_print_uint8(data_in[i]);
@ -69,128 +79,99 @@ static void work_uart() {
uart_puts_P(" -- \r\n"); uart_puts_P(" -- \r\n");
#endif #endif
if (cur == 13 || cur == '\n') { if (cur == 13 || cur == '\n') {
new_power = atoi(data_in);
power = atol(data_in); new_power = new_power <= POWER_MAX ? new_power : POWER_MAX;
if(power > POWER_MAX) power = POWER_MAX; diff = new_power > power ? new_power - power : power - new_power;
#ifdef DEBUG if(diff < MAX_ALLOWED_DEVIATION || fail_counter > MAX_FAILS) {
uart_puts_P("power = "); #ifdef UART_DEBUG
uart_print_uint16(power); uart_puts_P("Transmitted power = ");
uart_puts_P("\r\n"); uart_print_uint16(power);
uart_puts_P("\r\n");
#endif #endif
if(power > 0) { power = new_power;
fail_counter = 0;
set_servo(power); set_servo(power);
} }
else {
reset_input_buffer(); #ifdef UART_DEBUG
} uart_puts_P("Oooooooops!!! Transmitted power = ");
} uart_print_uint16(new_power);
uart_puts_P("\r\n");
#endif
fail_counter++;
}
reset_input_buffer();
}
}
} }
/** /**
* \brief set the servo to a position calculated to given power * \brief set the servo to a position calculated to given power
* *
* \param display The power value from 0 to 400 (including bounds) * \param display The power value from 0 to 400 (including bounds)
*/ */
void set_servo(uint16_t display) { void set_servo(uint16_t display) {
int diff; // invert value and ensure that we don't exceed the limit
display = POWER_MAX - (display < POWER_MAX ? display : POWER_MAX);
if( display > POWER_MAX ) display = POWER_MAX; // *10 otherwise we need float
display = (display * 10u) / ((POWER_MAX * 10u) / SERVO_STEPS) + SERVO_STEPS;
display = POWER_MAX-display; // invert the value / servo
display = display * 10; // *10 otherwise we need float
display = display / ((POWER_MAX * 10) / SERVO_STEPS);
display = display + SERVO_STEPS;
#ifdef DEBUG #ifdef DEBUG
uart_puts_P("display = "); uart_puts_P("display = ");
uart_print_uint16(display); uart_print_uint16(display);
uart_puts_P("\r\n"); uart_puts_P("\r\n");
#endif #endif
if( display < 125 ) display = 125; // just make sure, the timer cli();
if( display > 250 ) display = 250; // is never out ouf 20ms grid current_pulse_width = display;
sei();
// check if timer is currently in the small pulse, then sleep here 2ms
// and do again
if(OCR1A <= 2250) {
_delay_ms(10);
}
//cli(); // read and write atomic
TIMSK &= ~(_BV(OCIE1A));
diff = OCR1A - (2500-display);
if(diff <=20 && diff >= -20) {
OCR1A = 2500-display;
}
else {
if(diff <=20) {
OCR1A = OCR1A+5;
}
else if ( diff >= -20 ) {
OCR1A = OCR1A-5;
}
}
//sei();
TIMSK |= _BV(OCIE1A);
} }
/** /**
* \brief the method moves the servo one complete cycle * \brief the method moves the servo one complete cycle
*/ */
static void demo_display(void) { static void demo_display(void) {
set_servo(0); set_servo(0);
wait(100); wait(100);
set_servo(400); set_servo(400);
wait(100); wait(100);
set_servo(0); set_servo(0);
wait(100); wait(100);
} }
int main(void) { int main(void) {
sei();
sei();
ports_init();
timer_init();
uart_init(UART_BAUD_SELECT(38400,F_CPU));
reset_input_buffer();
//demo_display();
while(1) {
work_uart();
if(syscounter >= 10) { ports_init();
reset_input_buffer(); timer_init();
uart_putc('a'); // send a to receive values from master box uart_init(UART_BAUD_SELECT(38400,F_CPU));
reset_input_buffer();
// demo_display();
while(1) {
work_uart();
if(syscounter >= 10) {
reset_input_buffer();
uart_putc('a'); // send a to receive values from master box
syscounter = 0; syscounter = 0;
#ifdef DEBUG #ifdef DEBUG
uart_puts_P("OCR1A = "); uart_puts_P("OCR1A = ");
uart_print_uint16(OCR1A); uart_print_uint16(OCR1A);
uart_puts_P("\r\n"); uart_puts_P("\r\n");
#endif #endif
} }
} }
return(0); return(0);
} }
/** ISR(TIMER1_OVF_vect) {
* \brief this is our timer for PWM generation and system clock OCR1A = current_pulse_width;
* the system clock varies a bit, but this does not matter
*/
ISR(TIMER1_COMPA_vect) {
OCR1A = 2500-OCR1A; // Das Servosignal wird aus der Differenz von
// Periodenlänge (2500*0,008ms=20ms) und letztem
// Vergleichswert (OCR1A) gebildet
} }
ISR(TIMER0_COMPA_vect) { ISR(TIMER0_COMPA_vect) {

6
schaltungen/displayboard_servo/tester.py
View File

@ -13,7 +13,7 @@ while 1:
tdata = ser.read() tdata = ser.read()
if tdata == 'a': if tdata == 'a':
print power print 'Local power = ' + str(power)
ser.write(str(power) + '\x0d') ser.write(str(power) + '\x0d')
#ser.write('100\n') #ser.write('100\n')
ser.flush() ser.flush()
@ -30,7 +30,9 @@ while 1:
if power < 0: if power < 0:
power = 0 power = 0
incdec = 0 incdec = 0
#else: else:
sys.stdout.write(tdata)
sys.stdout.write(ser.readline())
#data_left = ser.inWaiting() #data_left = ser.inWaiting()
#tdata += ser.read(data_left) #tdata += ser.read(data_left)
#print tdata #print tdata