avr nano: Added Manipulator 12V enable/disable

[ros_wild_thumper.git] / avr / nano / main.c

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 78e85316980ef5d067b43a55e2d7c6b89c0f8529..07e1871420dcbc433671656420ac30f6182d8189 100644 (file)
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -28,6 +28,7 @@
  * 0x0C Distance forward2 LSB
  * 0x0D Current MSB
  * 0x0E Current LSB
  * 0x0C Distance forward2 LSB
  * 0x0D Current MSB
  * 0x0E Current LSB

+ * 0x0F Manipulator 12V

  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)
  *
  * 0x15 Distance forward1 MSB (read only)
  * 0x16 Distance forward1 LSB (read only)


@@ -40,6 +41,33 @@
  */
 
 
  */
 
 

+/**
+ * Nano Pinout
+ * A0 PC0/ADC0
+ * A1 PC1/ADC1
+ * A2 PC2/ADC2
+ * A3 PC3/ADC3
+ * A4 PC4/ADC4
+ * A5 PC5/ADC5
+ * A6 ADC6
+ * A7 ADC7
+ * D0 PD0/RX
+ * D1 PD1/TX
+ * D2 PD2/IND0 dist_fwd1
+ * D3 PD3/IND1 dist_bwd
+ * D4 PD4/T0 dist_fwd2
+ * D5 PD5/T1 Manipulator 12V
+ * D6 PD6/AIN0
+ * D7 PD7/AIN1
+ * D8 PB0/ICP
+ * D9 PB1/OC1
+ * D10 PB2/SS
+ * D11 PB3/MOSI
+ * D12 PB4/MISO
+ * D13 PB5/SCK
+ */
+
+

 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);
 #define TWI_ACK   TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWEN) | (1<<TWIE)
 #define TWI_NAK   TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 #define TWI_RESET TWCR = (1<<TWINT) | (1<<TWEA) | (1<<TWSTO) | (1<<TWEN) | (1<<TWIE);


@@ -74,12 +102,17 @@ ISR(TWI_vect)
                                        ireg = TWDR;
 
                                        if (ireg == 0x05) start_dist_fwd1=1;
                                        ireg = TWDR;
 
                                        if (ireg == 0x05) start_dist_fwd1=1;

-                                       if (ireg == 0x07) start_dist_bwd=1;
-                                       if (ireg == 0x0b) start_dist_fwd2=1;
+                                       else if (ireg == 0x07) start_dist_bwd=1;
+                                       else if (ireg == 0x0b) start_dist_fwd2=1;

 
                                        ireg--; // because we do ireg++ below
                                        TWI_ACK;
                                        break;
 
                                        ireg--; // because we do ireg++ below
                                        TWI_ACK;
                                        break;

+                               case 0x0f: // Manipulator 12V
+                                       if (TWDR) PORTD |= (1 << 5);
+                                       else PORTD &= ~(1 << 5);
+                                       TWI_ACK;
+                                       break;

                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:


@@ -189,6 +222,8 @@ ISR(TWI_vect)
                case TW_SR_STOP:
                        TWI_ACK;
                        break;
                case TW_SR_STOP:
                        TWI_ACK;
                        break;

+               case TW_NO_INFO:
+                       break;

                default:
                        TWI_RESET;
        }
                default:
                        TWI_RESET;
        }


@@ -199,8 +234,9 @@ uint16_t ReadChannel(uint8_t mux) {
        uint8_t i;
        uint16_t result;
 
        uint8_t i;
        uint16_t result;
 

-       ADCSRA = (1<<ADEN) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler 
-       // setzen auf 8 (1) und ADC aktivieren (1)
+       ADCSRA = (1<<ADEN) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0);    // Frequenzvorteiler
+       // setzen auf 128 (1) und ADC aktivieren (1)
+       // 16MHz/128=125kHz

 
        ADMUX = mux;                      // Kanal waehlen
        ADMUX |= (1<<REFS0);
 
        ADMUX = mux;                      // Kanal waehlen
        ADMUX |= (1<<REFS0);


@@ -316,6 +352,9 @@ int main(void) {
        setup_uart(9600);
        uart_setup_stdout();
 
        setup_uart(9600);
        uart_setup_stdout();
 

+       DDRD = (1 << 5);
+       PORTD = 0x0;
+

        // I2C
        TWAR = 0x52;
        TWI_ACK;
        // I2C
        TWAR = 0x52;
        TWI_ACK;