Mercurial > micropyhton-d1-tote
changeset 0:0357bf53dea3 draft
Initial commit
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Thu, 26 Jan 2017 16:15:45 +0100 |
| parents | |
| children | da915aa33c58 |
| files | d1-tote.fz firmware/Makefile firmware/main.c pcb.svg strips.svg tote-logo.svg |
| diffstat | 6 files changed, 19913 insertions(+), 0 deletions(-) [+] |
line wrap: on
line diff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/d1-tote.fz Thu Jan 26 16:15:45 2017 +0100 @@ -0,0 +1,19135 @@ +<?xml version="1.0" encoding="UTF-8"?> +<module fritzingVersion="0.9.3b.04.19.5c895d327c44a3114e5fcc9d8260daf0cbb52806" icon=".png"> + <boards> + <board moduleId="BoardLogoImageModuleID" title="Custom PCB Image" instance="PCB1" width="4.95884cm" height="4.95468cm"/> + </boards> + <views> + <view name="breadboardView" backgroundColor="#ffffff" gridSize="0.1in" showGrid="1" alignToGrid="1" viewFromBelow="0"/> + <view name="schematicView" backgroundColor="#ffffff" gridSize="0.1in" showGrid="1" alignToGrid="1" viewFromBelow="0"/> + <view name="pcbView" backgroundColor="#333333" gridSize="0.0125in" showGrid="1" alignToGrid="1" viewFromBelow="0" GPG_Keepout="0.012in" autorouteViaHoleSize="" autorouteTraceWidth="" DRC_Keepout="" autorouteViaRingThickness=""/> + </views> + <instances> + <instance moduleIdRef="Breadboard-RSR03MB102-ModuleID" modelIndex="5" 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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/firmware/Makefile Thu Jan 26 16:15:45 2017 +0100 @@ -0,0 +1,40 @@ +DEVICE = atmega328p +CLOCK = 8000000 +PROGRAMMER = -c usbasp +OBJECTS = main.o + +FUSES = -U lfuse:w:0xE2:m -U hfuse:w:0xDF:m -B 100 +AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE) +COMPILE = avr-gcc -std=gnu99 -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) + +all: main.hex + +flash: all + $(AVRDUDE) -U flash:w:main.hex:i + +fuse: + $(AVRDUDE) $(FUSES) + +install: flash fuse + +clean: + rm -f main.hex main.elf $(OBJECTS) + +.phony: all flash fuse install clean + +.c.o: + $(COMPILE) -c $< -o $@ + +.S.o: + $(COMPILE) -x assembler-with-cpp -c $< -o $@ + +.c.s: + $(COMPILE) -S $< -o $@ + +main.elf: $(OBJECTS) + $(COMPILE) -o main.elf $(OBJECTS) + +main.hex: main.elf + rm -f main.hex + avr-objcopy -j .text -j .data -O ihex main.elf main.hex + avr-size --format=avr --mcu=$(DEVICE) main.elf
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/firmware/main.c Thu Jan 26 16:15:45 2017 +0100 @@ -0,0 +1,233 @@ +#include <avr/io.h> +#include <avr/interrupt.h> +#include <inttypes.h> + + +#define I2C_ADDRESS 0x10 +#define I2C_BUFFER_SIZE 32 + + +static uint8_t i2c_buffer[I2C_BUFFER_SIZE]; +static uint8_t i2c_cursor; +static union { + uint8_t bytes[2]; + uint16_t value; +} bytes2int; + + +#define MAX_SERVO 20 +#define DEAD_BAND 9 + + +struct masks { + uint8_t mask_b; + uint8_t mask_c; + uint8_t mask_d; +}; + +static uint16_t servo_pulse[MAX_SERVO]; + +volatile static uint16_t servo_delay[MAX_SERVO + 1]; +volatile static struct masks servo_masks[MAX_SERVO]; +volatile static uint8_t servo_enable_b; +volatile static uint8_t servo_enable_c; +volatile static uint8_t servo_enable_d; +volatile static uint8_t servo_event; + +// Remap servo numbers to pins. + +// Internal numbers: +// 0 = PB0 1 = PB1 2 = PB2 3 = PB3 4 = PB4 5 = PB5 6 = PB6 7 = PB7 +// 8 = PC0 9 = PC1 10 = PC2 11 = PC3 12 = PD0 13 = PD1 14 = PD2 15 = PD3 +// 16 = PD4 17 = PD5 18 = PD6 19 = PD7 + +// PCB markings: +// 0 = PB6 1 = PD4 2 = PD3 3 = PD2 4 = PD1 5 = PD0 6 = PC0 7 = PC3 +// 8 = PC2 9 = PC1 +// 10 = PB5 11 = PB4 12 = PB3 13 = PB2 14 = PB1 15 = PB0 +// 16 = PD7 17 = PD6 18 = PD5 19 = PB7 + +const static uint8_t servo_map[MAX_SERVO] = { + 6, 16, 15, 14, 13, 12, 8, 11, 10, 9, + 5, 4, 3, 2, 1, 0, 19, 18, 17, 7 +}; + +ISR(TIMER1_COMPA_vect) { + OCR1B = servo_delay[0]; + TCNT1 = 0; + servo_event = 0; + PORTB = servo_enable_b; + PORTC = servo_enable_c; + PORTD = servo_enable_d; +} + + +ISR(TIMER1_COMPB_vect) { + struct masks masks = servo_masks[servo_event]; + OCR1B = servo_delay[++servo_event]; + PORTB &= masks.mask_b; + PORTC &= masks.mask_c; + PORTD &= masks.mask_d; +} + + +void servo_update() { + uint8_t mask; + uint16_t last_pulse = 0; + + mask = 0x00; + for (uint8_t servo = 0; servo < 8; ++servo) { + if (servo_pulse[servo]) { + mask |= 1 << servo; + } + } + servo_enable_b = mask; + mask = 0x00; + for (uint8_t servo = 0; servo < 4; ++servo) { + if (servo_pulse[8 + servo]) { + mask |= 1 << servo; + } + } + // leave out RESET (PC6) and PC7 + // pull up SDA (PC4) and SCL (PC5) + servo_enable_c = mask & 0x0f | 0x30; + mask = 0x00; + for (uint8_t servo = 0; servo < 8; ++servo) { + if (servo_pulse[12 + servo]) { + mask |= 1 << servo; + } + } + servo_enable_d = mask; + for (uint8_t event = 0; event < 8; ++event) { + uint16_t smallest_pulse = 0xffff; + for (uint8_t servo = 0; servo < MAX_SERVO; ++servo) { + if (servo_pulse[servo] > last_pulse && + servo_pulse[servo] < smallest_pulse) { + smallest_pulse = servo_pulse[servo]; + } + } + servo_delay[event] = smallest_pulse; + if (smallest_pulse != 0xffff) { + smallest_pulse += DEAD_BAND; + } + + mask = 0x00; + for (uint8_t servo = 0; servo < 8; ++servo) { + if (servo_pulse[servo] && + servo_pulse[servo] <= smallest_pulse) { + mask |= 1 << servo; + } + } + servo_masks[event].mask_b = ~mask; + + mask = 0x00; + for (uint8_t servo = 0; servo < 4; ++servo) { + if (servo_pulse[8 + servo] && + servo_pulse[8 + servo] <= smallest_pulse) { + mask |= 1 << servo; + } + } + // leave out rst, sda, scl and pc7 + servo_masks[event].mask_c = (~mask) | 0xf0; + + mask = 0x00; + for (uint8_t servo = 0; servo < 8; ++servo) { + if (servo_pulse[12 + servo] && + servo_pulse[12 + servo] <= smallest_pulse) { + mask |= 1 << servo; + } + } + servo_masks[event].mask_d = ~mask; + + last_pulse = smallest_pulse; + } +} + + +//uint16_t adc(uint8_t pin) { +// ADMUX = 0<<ADLAR | 0<<REFS1 | 0<<REFS0 | 0x07 & pin; +// ADCSRA |= 1<<ADSC; +// while (ADCSRA & (1<<ADSC)) { +// // Pass. +// } +// return ADC; +//} + + +int main() { + uint8_t i2c_address = I2C_ADDRESS; + +// // Init ADC. +// ADCSRA = 1<<ADEN | 1<<ADPS2 | 1<<ADPS1 | 0<<ADPS0; // Pre-scaler 64. +// if (adc(6) > 511) { +// i2c_address += 1; +// } +// if (adc(7) > 511) { +// i2c_address += 2; +// } +// ADCSRA = 0; + + // setup i2c slave + PORTC |= 1<<PC4 | 1<<PC5; // enable pullups + TWAR = i2c_address<<1; + + // setup servos + TCCR1A = 0x00; + TCCR1B &= ~(1<<CS12 | 1<<CS11 | 1<<CS10); + TCCR1B = 0x02; // prescaler 8 + OCR1A = 20000; // period + TIMSK1 = 1<<OCIE1A | 1<<OCIE1B; + DDRB = 0xff; + DDRC = 0x0f; // leave out RST, SDA, SCL and PC7 + DDRD = 0xff; + for (uint8_t i = 0; i < MAX_SERVO; ++i) { + servo_pulse[i] = 0; + servo_delay[i] = 0xffff; + } + servo_delay[MAX_SERVO] = 0xffff; + servo_update(); + sei(); + TCCR1C |= 1<<FOC1A; // trigger COMPA + + uint8_t dirty = 0; + // run i2c slave + while (1) { + TWCR = 1<<TWEN | 1<<TWINT | 1<<TWEA; + while (!(TWCR & (1<<TWINT))) { + // Only do the change if we are not in the middle of events. + if (dirty && servo_delay[servo_event] == 0xffff) { + servo_update(); + dirty = 0; + } + } + switch (TWSR & 0xF8) { + case 0x60: // received address for write and acked + i2c_cursor = 0; + break; + case 0x80: // received data and acked + case 0x88: // received data and nacked + if (i2c_cursor < I2C_BUFFER_SIZE) { + i2c_buffer[i2c_cursor++] = TWDR; + } + break; + case 0xa0: // stop or repeated start received + if (i2c_cursor == 0) { + break; + } + uint8_t i2c_servo = i2c_buffer[0]; + for (uint8_t i = 1; i < i2c_cursor - 1; i += 2) { + if (i2c_servo >= MAX_SERVO) { + i2c_servo = 0; + } + bytes2int.bytes[0] = i2c_buffer[i]; + bytes2int.bytes[1] = i2c_buffer[i + 1]; + servo_pulse[servo_map[i2c_servo]] = bytes2int.value; + i2c_servo += 1; + } + dirty = 1; + break; + default: // unexpected status + TWCR = 1<<TWINT | 1<<TWSTO | 1<<TWEN; + } + } +}
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