diff options
Diffstat (limited to 'source/qFix/qfixMega128Board.h')
| -rw-r--r-- | source/qFix/qfixMega128Board.h | 323 |
1 files changed, 323 insertions, 0 deletions
diff --git a/source/qFix/qfixMega128Board.h b/source/qFix/qfixMega128Board.h new file mode 100644 index 0000000..0a14e00 --- /dev/null +++ b/source/qFix/qfixMega128Board.h @@ -0,0 +1,323 @@ +//------------------------------------------------------------------
+// qfixMega128Board.h
+//
+// This file contains the class Mega128Board which represents the
+// physical Mega128Board with all its inputs and outputs.
+//
+// Copyright 2005 by KTB mechatronics GmbH
+// Author: Stefan Enderle, Florian Schrapp
+//------------------------------------------------------------------
+
+
+#include "qfix.h"
+
+
+#ifndef qfixMega128Board_h
+#define qfixMega128Board_h
+
+
+static int speedMotor0 = 50;
+static int speedMotor1 = 50;
+
+
+
+class Mega128Board
+{
+public:
+ /** Constructor for the robot board class.
+ */
+ Mega128Board();
+
+ /** Puts on LED i
+ */
+ void ledOn(int i);
+
+ /** Puts off LED i
+ */
+ void ledOff(int i);
+
+ /** Puts off all LEDs
+ */
+ void ledsOff();
+
+ /** Puts LED i on if state is true, else off
+ */
+ void led(int i, bool state);
+
+ /** Uses the four LEDs on the board to display the value i
+ * with 0 <= i <= 255
+ */
+ void ledMeter(int i);
+
+ /** Puts the power output i on
+ */
+ void powerOn(int i);
+
+ /** Puts the power output i off
+ */
+ void powerOff(int i);
+
+ /** Puts the power output i on if state is true, else off
+ */
+ void power(int i, bool state);
+
+ /** Checks the state of button i. If it is pressed, true is returned,
+ * else false.
+ */
+ bool button(int i);
+
+ /** Sets motor i to the given speed. -255 <= speed <= 255
+ */
+ void motor(int i, int speed);
+
+ /** Sets both motors to the given speed. -255 <= speed <= 255
+ */
+ void motors(int speed0, int speed1);
+
+ /** Puts off both motors.
+ */
+ void motorsOff();
+
+ /** returns the value of the analog port i. 0 <= value <= 255
+ */
+ int analog(int i);
+
+ /** returns true if the digital port is logical high, else false.
+ */
+ bool digital(int i);
+
+};
+
+
+
+
+
+
+
+
+// PWM routine //
+SIGNAL (SIG_OVERFLOW0)
+{
+ const int OFFSET=50; // motor does not work with very low ratio
+ static int counter=255+OFFSET;
+
+ if (speedMotor1==0) cbi(PORTB, 6); // enable1 = 0
+ else if (abs(speedMotor1)+OFFSET >= counter) sbi(PORTB, 6); // enable1 = 1
+ else cbi(PORTB, 6); // enable1 = 0
+
+ if (speedMotor0==0) cbi(PORTB, 7); // enable2 = 0
+ else if (abs(speedMotor0)+OFFSET >= counter) sbi(PORTB, 7); // enable2 = 1
+ else cbi(PORTB, 7); // enable2 = 0
+
+ if (counter==0) counter=255+OFFSET;
+ else counter--;
+}
+
+
+
+void initTimer()
+{
+ TCCR0=1; // timer 0 for interrupt
+ TIMSK=1;
+ sei(); // enable interrupts
+}
+
+
+
+Mega128Board::Mega128Board()
+{
+ // Port A: motors input
+ DDRA = 4+8+16+64; // all motors output
+ PORTA = 0; // clear all bits = motors off
+
+ // Port B: motors enable
+ DDRB = 64+128; // upper bits output
+ PORTB = 0; // clear bit 6 and 7 = motors off
+
+ // Port C: power output //
+ DDRC = 255; // default direction port C: all bits output
+ PORTC = 0; // clear all bits: power on
+
+ // Port D: I2C //
+ DDRD = 0; // all bits input
+ PORTD = 1+2; // set bits 0,1 -> I2C pullUps
+
+ // Port E: leds + buttons //
+ DDRE = 4+8+16+32; // pin 2-5 leds output; pin 6+7 input for buttons 0+1
+ PORTE |= 4+8+16+32; // set leds off
+ PORTE |= 64+128; // set pullups for buttons 0+1
+
+ // Port F: analog in + digital in //
+ DDRF = 0; // all bits input
+
+ // Port G: buttons //
+ DDRG = 0; // pin 3+4 input for buttons 2+3
+ PORTG |= 8+16; // set pullups for buttons 3+4
+
+ initTimer();
+}
+
+
+void Mega128Board::ledOn(int i)
+{
+ if ((i<0) || (i>3)) return;
+ cbi(PORTE, i+2); // clear bit -> LED on
+}
+
+
+void Mega128Board::ledOff(int i)
+{
+ if ((i<0) || (i>3)) return;
+ sbi(PORTE, i+2); // set bit -> LED off
+}
+
+
+void Mega128Board::ledsOff()
+{
+ ledOff(0);
+ ledOff(1);
+ ledOff(2);
+ ledOff(3);
+}
+
+
+void Mega128Board::led(int i, bool state)
+{
+ if (state) ledOn(i); else ledOff(i);
+}
+
+
+void Mega128Board::ledMeter(int i)
+{
+ led(0, (i>50));
+ led(1, (i>100));
+ led(2, (i>150));
+ led(3, (i>200));
+}
+
+
+void Mega128Board::powerOn(int i)
+{
+ if ((i<0) || (i>7)) return;
+ cbi(PORTC, i);
+}
+
+
+void Mega128Board::powerOff(int i)
+{
+ if ((i<0) || (i>7)) return;
+ sbi(PORTC, i);
+}
+
+
+void Mega128Board::power(int i, bool state)
+{
+ if (state) powerOn(i); else powerOff(i);
+}
+
+
+bool Mega128Board::button(int i)
+{
+ if ((i<0) || (i>3)) return false;
+ else if (i==0 || i ==1){
+ return ((PINE & (64<<i)) == 0); //wenn pina=0 button gedrückt => 0&1=false, also 0==0 => true
+ }
+ else if (i==2 || i==3){
+ return ((PING & (2<<i)) == 0);
+ }
+ else return false;
+}
+
+
+void Mega128Board::motor(int i, int speed)
+{
+ if ((i<0) || (i>1)) return;
+
+ if (i==1) {
+ speedMotor1 = speed;
+ if (speed==0) {
+ cbi(PORTA, 2); // input1 = 0
+ cbi(PORTA, 3); // input2 = 0
+ //cbi(PORTB, 6); // enable1 = 0
+ }
+ else if (speed>0) {
+ sbi(PORTA, 2); // input1 = 1
+ cbi(PORTA, 3); // input2 = 0
+ //sbi(PORTB, 6); // enable1 = 1
+
+ }
+ else {
+ cbi(PORTA, 2); // input1 = 0
+ sbi(PORTA, 3); // input2 = 1
+ }
+ }
+
+ if (i==0) {
+ speedMotor0 = speed;
+ if (speed==0) {
+ cbi(PORTA, 4); // input3 = 0
+ cbi(PORTA, 5); // input4 = 0
+ //cbi(PORTB, 7); // enable2 = 0
+ }
+ else if (speed>0){
+ sbi(PORTA, 4); // input3 = 1
+ cbi(PORTA, 5); // input4 = 0
+ //sbi(PORTB, 7); // enable2 = 1
+ }
+ else {
+ cbi(PORTA, 4); // input3 = 0
+ sbi(PORTA, 5); // input4 = 1
+ }
+ }
+}
+
+
+void Mega128Board::motors(int motor0, int motor1)
+{
+ motor(0,motor0);
+ motor(1,motor1);
+}
+
+
+void Mega128Board::motorsOff()
+{
+ motor(0,0);
+ motor(1,0);
+}
+
+
+// return 0-255 //
+int Mega128Board::analog(int i)
+{
+ if ((i<0) || (i>7)) return -1;
+
+ ADCSRA=128; // set A/D enable bit (ADEN)
+ ADMUX=i; // select analog input and start A/D
+ sbi(ADMUX, ADLAR); // left adjust -> we use only ADCH
+ sbi(ADCSRA, ADSC); // start conversion
+ while (ADCSRA & 64); // wait until ADSC is low again
+ int value = ADCH; // read 8 bit value fom ADCH
+ return value;
+}
+
+
+
+bool Mega128Board::digital(int i)
+{
+ if ((i<0) || (i>7)) return false; // bad solution...
+ ADCSRA=0; // clear A/D enable bit (ADEN)
+ PORTF |= (1<<i); // set pullups for digital inputs
+
+ return (PINF & (1<<i)) ;
+}
+
+
+
+
+
+
+
+
+
+#endif
+
|