X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fnano%2Fmain.c;h=07e1871420dcbc433671656420ac30f6182d8189;hp=aba8aa1a2114c5b9c0d5ed433d233ceb4395e5ec;hb=8bf6f432e200f4d3fa494081837915b15015ab65;hpb=ebe8b9669caa6d895b037231c2f66c104ac648a4

diff --git a/avr/nano/main.c b/avr/nano/main.c
index aba8aa1..07e1871 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -5,6 +5,10 @@
 #include <avr/interrupt.h>
 #include <avr/sleep.h>
 #include <util/delay.h>
+#include <util/twi.h>
+#include <avr/eeprom.h>
+#include <avr/wdt.h>
+#include <avr/pgmspace.h>
 #include "uart.h"
 
 /*
@@ -22,6 +26,9 @@
  * 0x0A Voltage LSB
  * 0x0B Distance forward2 MSB
  * 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)
@@ -34,9 +41,36 @@
  */
 
 
-#define TWI_ACK		TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
-#define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
-#define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
+/**
+ * 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);
 
 static volatile uint8_t ireg=0;
 static volatile uint8_t bootloader=0;
@@ -49,39 +83,45 @@ static volatile uint8_t start_dist_fwd1=0;
 static volatile uint8_t start_dist_fwd2=0;
 static volatile uint8_t start_dist_bwd=0;
 static volatile uint16_t voltage=0;
+static volatile uint16_t current=0;
 static volatile uint8_t pind_pre=0;
 
 ISR(TWI_vect)
 {
 	static int16_t tmp16=0;
 
-	switch (TWSR & 0xF8)
+	switch(TW_STATUS)
 	{  
-		case 0x60: // start write
+		case TW_SR_SLA_ACK: // start write
 			TWI_ACK;
 			ireg = 0;
 			break;
-		case 0x80: // write
+		case TW_SR_DATA_ACK: // write
 			switch(ireg) {
 				case 0x00: // register select
 					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;
+				case 0x0f: // Manipulator 12V
+					if (TWDR) PORTD |= (1 << 5);
+					else PORTD &= ~(1 << 5);
+					TWI_ACK;
+					break;
 				case 0xff: // bootloader
 					bootloader = TWDR;
 				default:
 					TWI_NAK;
 			}
-			ireg++;
+			if (ireg < 0xff) ireg++;
 			break;
-		case 0xA8: // start read
-		case 0xB8: // read
+		case TW_ST_SLA_ACK: // start read
+		case TW_ST_DATA_ACK: // read
 			switch(ireg) {
 				case 0x01: // Distance left MSB
 					tmp16 = dist_left;
@@ -137,6 +177,15 @@ ISR(TWI_vect)
 					TWDR = tmp16;
 					TWI_ACK;
 					break;
+				case 0x0D: // Current MSB
+					tmp16 = current;
+					TWDR = tmp16>>8;
+					TWI_ACK;
+					break;
+				case 0x0E: // Current LSB
+					TWDR = tmp16;
+					TWI_ACK;
+					break;
 				case 0x15: // Distance forward1 MSB
 					tmp16 = dist_forward1;
 					TWDR = tmp16>>8;
@@ -170,6 +219,11 @@ ISR(TWI_vect)
 			}
 			ireg++;
 			break;
+		case TW_SR_STOP:
+			TWI_ACK;
+			break;
+		case TW_NO_INFO:
+			break;
 		default:
 			TWI_RESET;
 	}
@@ -180,8 +234,9 @@ uint16_t ReadChannel(uint8_t mux) {
 	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);
@@ -225,6 +280,16 @@ static unsigned short get_voltage(void) {
 }
 
 
+/*
+ * zero offset: 0.5V
+ * sensitivity: 133mV/A
+ */
+static unsigned short get_current(void) {
+	double volt = ReadChannel(3)*5.0171; // mV
+	return (volt-517.78)/0.12656; // mA
+}
+
+
 ISR(INT0_vect) {
 	static uint16_t t_start=0;
 	uint16_t t_now = TCNT1;
@@ -287,9 +352,12 @@ int main(void) {
 	setup_uart(9600);
 	uart_setup_stdout();
 
+	DDRD = (1 << 5);
+	PORTD = 0x0;
+
 	// I2C
 	TWAR = 0x52;
-	TWI_RESET;
+	TWI_ACK;
 
 	// Timer 1: Normal mode, Top: 0xffff, Prescaler: F_CPU/256=62500Hz
 	TCCR1A = 0x0;
@@ -299,7 +367,7 @@ int main(void) {
 	EICRA = (1 << ISC10) | (1 << ISC00);
 	PCICR = (1 << PCIE2);
 
-	printf("\r\nStart\r\n");
+	printf_P(PSTR("\r\nStart\r\n"));
 
 	set_sleep_mode(SLEEP_MODE_IDLE);
 	sei();
@@ -314,13 +382,17 @@ int main(void) {
 			case 0x09: // voltage
 				voltage = get_voltage();
 				break;
+			case 0x0d: // current
+				current = get_current();
+				break;
 			case 0xff: // Magic reg that starts the bootloader
 				if (bootloader == 0xa5) {
 					cli();
-					{
-						void (*start)(void) = (void*)0x1800;
-						start();
-					}
+					// write mark to first area in eeprom
+					eeprom_write_byte((uint8_t*)0, 123);
+					eeprom_busy_wait();
+					// Use watchdog to restart
+					wdt_enable(WDTO_15MS);
 				}
 				break;
 		}