From: Erik Andresen Date: Sun, 24 May 2015 09:03:34 +0000 (+0200) Subject: avr fixes X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=ab3290814e1fab8601b32646745b8932412652c8 avr fixes --- diff --git a/avr/motor_ctrl/fuses.txt b/avr/motor_ctrl/fuses.txt new file mode 100644 index 0000000..87a8a04 --- /dev/null +++ b/avr/motor_ctrl/fuses.txt @@ -0,0 +1,5 @@ +http://palmavr.sourceforge.net/cgi-bin/fc.cgi + +avrdude -p atmega32 -P usb -c avrisp2 -U lfuse:r:-:i -U hfuse:r:-:i + +avrdude -p atmega32 -P usb -c avrisp2 -U lfuse:w:0x23:m -U hfuse:w:0xc9:m diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c index 0c07d13..09a8a72 100644 --- a/avr/motor_ctrl/main.c +++ b/avr/motor_ctrl/main.c @@ -81,22 +81,11 @@ static volatile int16_t speed1_wish=0; static volatile int16_t speed2_wish=0; static volatile int16_t speed3_wish=0; static volatile int16_t speed4_wish=0; -static volatile int16_t speed1=0; -static volatile int16_t speed2=0; -static volatile int16_t speed3=0; -static volatile int16_t speed4=0; -static volatile int16_t eold1=0; -static volatile int16_t eold2=0; -static volatile int16_t eold3=0; -static volatile int16_t eold4=0; -static volatile int32_t esum1=0; -static volatile int32_t esum2=0; -static volatile int32_t esum3=0; -static volatile int32_t esum4=0; -static volatile int16_t pos1_last=0; -static volatile int16_t pos2_last=0; -static volatile int16_t pos3_last=0; -static volatile int16_t pos4_last=0; +static volatile uint16_t run_pid=0; +static int16_t speed1=0; +static int16_t speed2=0; +static int16_t speed3=0; +static int16_t speed4=0; ISR(TWI_vect) { @@ -323,8 +312,8 @@ static void update_hall1(void) { diff = oldstatus - new; // difference last - new if (diff & 0x1) { // bit 0 = value (1) oldstatus = new; // store new as next last - if (motor1_switch) pos1 -= (diff & 2) - 1; // bit 1 = direction (+/-) - else pos1 += (diff & 2) - 1; + if (motor1_switch) pos1 += (diff & 2) - 1; // bit 1 = direction (+/-) + else pos1 -= (diff & 2) - 1; } } @@ -462,13 +451,20 @@ static void update_motor(void) { } -ISR(TIMER0_OVF_vect) { - update_hall1(); - update_hall2(); - update_hall3(); - update_hall4(); +void update_pid(void) { + static int16_t pos1_last=0; + static int16_t pos2_last=0; + static int16_t pos3_last=0; + static int16_t pos4_last=0; + static int16_t eold1=0; + static int16_t eold2=0; + static int16_t eold3=0; + static int16_t eold4=0; + static int32_t esum1=0; + static int32_t esum2=0; + static int32_t esum3=0; + static int32_t esum4=0; - // PID control if (motor1_mode == MOTOR_PID) { speed1 = (pos1 - pos1_last)/TIMER0_T; @@ -540,6 +536,16 @@ ISR(TIMER0_OVF_vect) { } +ISR(TIMER1_OVF_vect) { + update_hall1(); + update_hall2(); + update_hall3(); + update_hall4(); + + run_pid++; +} + + int main(void) { // Outputs DDRB = (1 << 3); @@ -555,23 +561,23 @@ int main(void) { TWI_RESET; // Motor 1 & 2 - // Timer 1: Fast PWM inverting mode, Top=256 => 15.625Hz + // Timer 1: Fast PWM inverting mode, Top=256 => 15.625kHz // Prescaler=1 - TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10); + TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << COM1A0) | (1 << COM1B0) | (1 << WGM10); TCCR1B = (1 << WGM12) | (1 << CS10); OCR1A = 0; OCR1B = 0; // Motor 3 - // Timer 2: Fast PWM, Top=256 => 15.625Hz + // Timer 2: Fast PWM inverting mode, Top=256 => 15.625kHz // Prescaler=1 - TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << CS20); + TCCR2 = (1 << WGM21) | (1 << WGM20) | (1 << COM21) | (1 << COM20) | (1 << CS20); OCR2 = 0; // Motor 4 - // Timer 0: Fast PWM, Top=256 => 15.625Hz + // Timer 0: Fast PWM inverting mode, Top=256 => 15.625kHz // Prescaler=1 - TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << CS00); + TCCR0 = (1 << WGM01) | (1 << WGM00) | (1 << COM01) | (1 << COM00) | (1 << CS00); OCR0 = 0; printf("\r\nStart\r\n"); @@ -593,6 +599,13 @@ int main(void) { } break; } + + + if (run_pid >= 781) { // ~20Hz + run_pid=0; + update_pid(); + } + update_motor(); sleep_mode(); diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex index 6b1dece..1b859ba 100644 --- a/avr/motor_ctrl/main.hex +++ b/avr/motor_ctrl/main.hex @@ -1,7 +1,7 @@ :100000000C945C000C9479000C9479000C947900A9 :100010000C9479000C9479000C9479000C9479007C -:100020000C9479000C9479000C9479000C94E30101 -:100030000C9479000C9405060C9479000C947900CA +:100020000C9479000C94F0040C9479000C947900F1 +:100030000C9479000C94CD050C9479000C94790003 :100040000C9479000C9479000C9479000C947B004A :100050000C9479007901C9017C01C9017F01C901B2 :100060008101C901C901C901C901C901C901C90188 @@ -10,447 +10,441 @@ :100090009F01A401A901AE01B301B801BD01C201D4 :1000A00045464765666700202B2D2E3031323334AC :1000B000353637383968000011241FBECFE5D8E047 -:1000C000DEBFCDBF10E0A0E6B0E0E6E4FCE102C098 +:1000C000DEBFCDBF10E0A0E6B0E0E0EFFBE102C094 :1000D00005900D92A837B107D9F721E0A8E7B0E065 -:1000E00001C01D92AE33B207E1F70E94FA060C94EC -:1000F000210E0C9400001F920F920FB60F92112444 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