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/*
* c't-Bot
*
* This program is free software; you can redistribute it
* and/or modify it under the terms of the GNU General
* Public License as published by the Free Software
* Foundation; either version 2 of the License, or (at your
* option) any later version.
* This program is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
* PURPOSE. See the GNU General Public License for more details.
* You should have received a copy of the GNU General Public
* License along with this program; if not, write to the Free
* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
* MA 02111-1307, USA.
*
*/
/*! @file motor-low.c
* @brief Low-Level Routinen fuer die Motorsteuerung des c't-Bots
* @author Benjamin Benz (bbe@heise.de)
* @date 01.12.05
*/
#ifdef MCU
#include "ct-Bot.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#ifndef NEW_AVR_LIB
#include <avr/signal.h>
#endif
#include <stdlib.h>
#include "global.h"
#include "motor.h"
#include "timer.h"
#include "sensor.h"
#include "display.h"
#include "motor-low.h"
//Drehrichtung der Motoren
#define BOT_DIR_L_PIN (1<<6) // PC7
#define BOT_DIR_L_PORT PORTC
#define BOT_DIR_L_DDR DDRC
#define BOT_DIR_R_PIN (1<<7) // PC6
#define BOT_DIR_R_PORT PORTC
#define BOT_DIR_R_DDR DDRC
#define PWM_L OCR1A
#define PWM_R OCR1B
#define PWM_CLK_0 (_BV(CS02) | _BV(CS00)) /*!< Prescaler fuer PWM 0 = 1024*/
//#define PWM_CLK_2 (_BV(CS22) | _BV(CS21) |_BV(CS20)) /*!< Prescaler fuer PWM 2 =1024 */
int16 motor_left; /*!< zuletzt gestellter Wert linker Motor */
int16 motor_right; /*!< zuletzt gestellter Wert rechter Motor */
void pwm_0_init(void);
void pwm_1_init(void);
// void pwm_2_init(void); // Kollidiert mit Timer2 fuer IR-Fernbedienung
/*!
* Initialisiert alles fuer die Motosteuerung
*/
void motor_low_init(){
BOT_DIR_L_DDR|=BOT_DIR_L_PIN;
BOT_DIR_R_DDR|=BOT_DIR_R_PIN;
pwm_0_init();
pwm_1_init();
// pwm_2_init(); // Kollidiert mit Timer2 fuer IR-Fernbedienung
bot_motor(0,0);
}
/*!
* unmittelbarere Zugriff auf die beiden Motoren
* normalerweise NICHT verwenden!!!!!
* @param left Speed links
* @param right Speed rechts
*/
void bot_motor(int16 left, int16 right){
// Vorzeichenbehaftete PWM-Werte sichern
motor_left=left;
motor_right=right;
PWM_L = 255-abs(left);
PWM_R = 255-abs(right);
if (left > 0 ){
BOT_DIR_L_PORT |= BOT_DIR_L_PIN;
direction.left= DIRECTION_FORWARD;
} else
BOT_DIR_L_PORT &= ~BOT_DIR_L_PIN;
if (left < 0 )
direction.left= DIRECTION_BACKWARD;
if (right <= 0 ) // Einer der Motoren ist invertiert, da er ja in die andere Richtung schaut
BOT_DIR_R_PORT |= BOT_DIR_R_PIN;
else {
BOT_DIR_R_PORT &= ~BOT_DIR_R_PIN;
direction.right= DIRECTION_FORWARD;
}
if (right < 0 )
direction.right= DIRECTION_BACKWARD;
}
/*!
* Stellt die Servos
* Sinnvolle Werte liegen zwischen 8 und 16
*/
void servo_low(uint8 servo, uint8 pos){
if (servo== SERVO1) {
if (pos == SERVO_OFF) {
#ifdef __AVR_ATmega644__
TCCR0B &= ~PWM_CLK_0 ; // PWM aus
#else
TCCR0 &= ~PWM_CLK_0 ; // PWM aus
#endif
} else {
#ifdef __AVR_ATmega644__
TCCR0B |= PWM_CLK_0; // PWM an
OCR0A=pos;
#else
TCCR0 |= PWM_CLK_0; // PWM an
OCR0=pos;
#endif
}
}
// if (servo== SERVO2) {
// if (pos == 0) {
// TCCR2 &= ~ (_BV(CS22) | _BV(CS21) | _BV(CS20)); // PWM an
// } else {
// TCCR2 |= PWM_CLK_2; // PWM an
// OCR2=pos;
// }
// }
}
/*!
* Interrupt Handler for Timer/Counter 0
*/
#ifdef __AVR_ATmega644__
SIGNAL (TIMER0_COMPA_vect){
#else
SIGNAL (SIG_OUTPUT_COMPARE0){
#endif
}
/*!
* Timer 0: Kontrolliert den Servo per PWM
* PWM loescht bei erreichen. daher steht in OCR0 255-Speed!!!
* initilaisiert Timer 0 und startet ihn
*/
void pwm_0_init(void){
DDRB |= (1<<3); // PWM-Pin als Output
TCNT0 = 0x00; // TIMER0 vorladen
#ifdef __AVR_ATmega644__
TCCR0A = _BV(WGM00) | // Normal PWM
_BV(COM0A1); // Clear on Compare , Set on Top
//PWM_CLK_0;
OCR0A = 8;
#else
TCCR0 = _BV(WGM00) | // Normal PWM
_BV(COM01) ; // Clear on Compare , Set on Top
OCR0 = 8; // PWM loescht bei erreichen. daher steht in OCR0 255-Speed!!!
#endif
// TIMSK |= _BV(OCIE0); // enable Output Compare 0 overflow interrupt
//sei(); // enable interrupts
}
// ---- Timer 1 ------
/*!
* Interrupt Handler for Timer/Counter 1A
*/
SIGNAL (SIG_OUTPUT_COMPARE1A){
}
/*!
* Interrupt Handler for Timer/Counter 1B
*/
SIGNAL (SIG_OUTPUT_COMPARE1B){
}
/*!
* Timer 1: Kontrolliert die Motoren per PWM
* PWM loescht bei erreichen. daher steht in OCR1A/OCR1B 255-Speed!!!
* initilaisiert Timer 0 und startet ihn
*/
void pwm_1_init(void){
DDRD |= 0x30 ; // PWM-Pins als Output
TCNT1 = 0x0000; // TIMER1 vorladen
TCCR1A = _BV(WGM10) | // Fast PWM 8 Bit
_BV(COM1A1) |_BV(COM1A0) | // Clear on Top, Set on Compare
_BV(COM1B1) |_BV(COM1B0); // Clear on Top, Set on Compare
TCCR1B = _BV(WGM12) |
_BV(CS12) | _BV(CS10); // Prescaler = 1024
// _BV(CS10); // Prescaler = 1
OCR1A = 255; // PWM loescht bei erreichen. daher steht in OCR1A 255-Speed!!!
OCR1B = 255; // PWM loescht bei erreichen. daher steht in OCR1B 255-Speed!!!
// TIMSK|= _BV(OCIE1A) | _BV(OCIE1B); // enable Output Compare 1 overflow interrupt
// sei(); // enable interrupts
}
/*!
* Timer 0: Kontrolliert den Servo per PWM
* PWM loescht bei erreichen. daher steht in OCR0 255-Speed!!!
* initilaisiert Timer 0 und startet ihn
*/
/* Kollidiert derzeit mit Timer2 fuer IR
void pwm_2_init(void){
DDRD |= 0x80; // PWM-Pin als Output
TCNT2 = 0x00; // TIMER0 vorladen
TCCR2 = _BV(WGM20) | // Normal PWM
_BV(COM21); // Clear on Top, Set on Compare
// _BV(CS22) | _BV(CS21) |_BV(CS20); // Prescaler = 1024
OCR2 = 8; // PWM löscht bei erreichen. daher steht in OCR0 255-Speed!!!
// TIMSK |= _BV(OCIE0); // enable Output Compare 0 overflow interrupt
//sei(); // enable interrupts
}
*/
#endif
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