Revision cc9ca04e
ID | cc9ca04e4d58158606627a644331754a3fd64e91 |
Fixed pins to work with 128rfa1 instead of 2560
scout_avr/Makefile | ||
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1 | 1 |
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2 |
#PART=m128rfa1
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3 |
#MCU=atmega128rfa1
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2 |
PART=m128rfa1 |
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3 |
MCU=atmega128rfa1 |
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4 | 4 |
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5 | 5 |
#PART=m328p |
6 | 6 |
#MCU=atmega328 |
7 | 7 |
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8 |
PART=m2560 |
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9 |
MCU=atmega2560 |
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#PART=m2560
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9 |
#MCU=atmega2560
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10 | 10 |
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11 |
#PROG=avrispMKII
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PROG=stk600 |
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PROG=avrispMKII |
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#PROG=stk600
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13 | 13 |
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14 | 14 |
F_CPU=16000000 |
15 | 15 |
SRC=src/*.cpp src/ros_lib/*.cpp |
... | ... | |
25 | 25 |
avr-g++ $(FLAGS) $(SRC) -o scout_avr.elf |
26 | 26 |
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27 | 27 |
program: scout_avr.hex |
28 |
avrdude -p $(PART) -c $(PROG) -P usb -B 1 -F -U flash:w:scout_avr.hex
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avrdude -p $(PART) -c $(PROG) -P usb -B 5 -U flash:w:scout_avr.hex
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29 | 29 |
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30 | 30 |
clean: |
31 | 31 |
rm -f scout_avr.elf scout_avr.hex |
scout_avr/src/bom.cpp | ||
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53 | 53 |
|
54 | 54 |
void bom_isr() { |
55 | 55 |
if (out_high) { |
56 |
BOM_EMIT ^= out_pin_mask; |
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56 |
PORT_BOM_EMIT ^= out_pin_mask;
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57 | 57 |
} |
58 | 58 |
} |
59 | 59 |
|
... | ... | |
66 | 66 |
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67 | 67 |
static void start_38kHz_signal() { |
68 | 68 |
TCNT3 = 0; |
69 |
BOM_EMIT |= out_pin_mask; |
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69 |
PORT_BOM_EMIT |= out_pin_mask;
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70 | 70 |
out_high = 1; |
71 | 71 |
} |
72 | 72 |
|
73 | 73 |
static void stop_38kHz_signal() { |
74 |
BOM_EMIT &= ~ out_pin_mask; |
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PORT_BOM_EMIT &= ~ out_pin_mask;
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75 | 75 |
out_high = 0; |
76 | 76 |
} |
77 | 77 |
|
... | ... | |
126 | 126 |
PCICR |= _BV(PCIE0); |
127 | 127 |
|
128 | 128 |
// BOM_EMIT as output |
129 |
DDRH |= _BV(DDH4) | _BV(DDH5) | _BV(DDH6) | _BV(DDH7);
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DDRF |= _BV(DDF4) | _BV(DDF5) | _BV(DDF6) | _BV(DDF7);
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130 | 130 |
|
131 | 131 |
init_38kHz_signal(); |
132 | 132 |
init_data_signal(); |
... | ... | |
134 | 134 |
|
135 | 135 |
void bom_send(char dir) { |
136 | 136 |
switch (dir) { |
137 |
case BOM_FRONT: out_pin_mask = _BV(BOM_EMIT0); break; |
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case BOM_LEFT: out_pin_mask = _BV(BOM_EMIT1); break; |
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case BOM_RIGHT: out_pin_mask = _BV(BOM_EMIT2); break; |
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case BOM_BACK: out_pin_mask = _BV(BOM_EMIT3); break; |
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case BOM_FRONT: out_pin_mask = _BV(P_BOM_EMIT0); break;
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case BOM_LEFT: out_pin_mask = _BV(P_BOM_EMIT1); break;
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case BOM_RIGHT: out_pin_mask = _BV(P_BOM_EMIT2); break;
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case BOM_BACK: out_pin_mask = _BV(P_BOM_EMIT3); break;
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141 | 141 |
} |
142 | 142 |
out_counter = 16; |
143 | 143 |
out_msg = sharp_msg_make(0x2A, bom_msg_make(robot_id, dir)); |
... | ... | |
188 | 188 |
} |
189 | 189 |
|
190 | 190 |
ISR(PCINT0_vect) { |
191 |
uint8_t bom_sig = BOM_SIG; |
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uint8_t bom_sig = PIN_BOM_SIG;
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192 | 192 |
uint8_t changed = bom_sig ^ prev_bom_sig; |
193 |
if (changed & _BV(BOM_SIG0)) recv_edge(bom_sig & _BV(BOM_SIG0), &bom_rx[0]);
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if (changed & _BV(BOM_SIG1)) recv_edge(bom_sig & _BV(BOM_SIG1), &bom_rx[1]);
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if (changed & _BV(BOM_SIG2)) recv_edge(bom_sig & _BV(BOM_SIG2), &bom_rx[2]);
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if (changed & _BV(BOM_SIG3)) recv_edge(bom_sig & _BV(BOM_SIG3), &bom_rx[3]);
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if (changed & _BV(P_BOM_SIG0)) recv_edge(bom_sig & _BV(P_BOM_SIG0), &bom_rx[0]);
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if (changed & _BV(P_BOM_SIG1)) recv_edge(bom_sig & _BV(P_BOM_SIG1), &bom_rx[1]);
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if (changed & _BV(P_BOM_SIG2)) recv_edge(bom_sig & _BV(P_BOM_SIG2), &bom_rx[2]);
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if (changed & _BV(P_BOM_SIG3)) recv_edge(bom_sig & _BV(P_BOM_SIG3), &bom_rx[3]);
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197 | 197 |
prev_bom_sig = bom_sig; |
198 | 198 |
} |
199 | 199 |
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scout_avr/src/bom.h | ||
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22 | 22 |
|
23 | 23 |
// i/o pins |
24 | 24 |
// if these are changed, remember to change bom_init and/or ISRs |
25 |
#define BOM_SIG PINB |
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#define BOM_SIG0 PB0 |
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#define BOM_SIG1 PB1 |
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#define BOM_SIG2 PB2 |
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#define BOM_SIG3 PB3 |
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#define BOM_EMIT PORTH |
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#define BOM_EMIT0 PH4 |
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#define BOM_EMIT1 PH5 |
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#define BOM_EMIT2 PH6 |
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#define BOM_EMIT3 PH7 |
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#define PIN_BOM_SIG PINB |
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#define P_BOM_SIG0 PB0 |
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#define P_BOM_SIG1 PB1 |
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#define P_BOM_SIG2 PB2 |
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#define P_BOM_SIG3 PB3 |
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#define PORT_BOM_EMIT PORTF |
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#define P_BOM_EMIT0 PF4 |
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#define P_BOM_EMIT1 PF5 |
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#define P_BOM_EMIT2 PF6 |
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#define P_BOM_EMIT3 PF7 |
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35 | 36 |
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36 | 37 |
typedef uint8_t bom_msg_t; |
37 | 38 |
|
... | ... | |
48 | 49 |
void set_robot_id(char id); |
49 | 50 |
char get_robot_id(void); |
50 | 51 |
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// NOTE: call range_init before bom_init to ensure timer 1 is set up!
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// NOTE: call range_init before bom_init to ensure timer 5 is set up!
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52 | 53 |
void bom_init(void); |
53 | 54 |
void bom_send(char dir); |
54 | 55 |
int bom_get(char dir); |
scout_avr/src/main.cpp | ||
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1 |
#if 0 ///////////////////////////////////////////////
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1 |
#if 1 ///////////////////////////////////////////////
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2 | 2 |
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3 | 3 |
#include "ros.h" |
4 | 4 |
#include <std_msgs/Int16.h> |
scout_avr/src/range.cpp | ||
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1 |
#include "range.h" |
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2 |
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3 | 1 |
extern "C" |
4 | 2 |
{ |
5 | 3 |
#include <avr/io.h> |
6 | 4 |
#include <avr/interrupt.h> |
7 | 5 |
} |
6 |
#include "range.h" |
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8 | 7 |
|
9 | 8 |
/* Ultrasonic Sensor: |
10 | 9 |
* -if RX pin is left open, it will continuously take readings |
... | ... | |
12 | 11 |
* -PW will be high for a maximum of 37.5ms if no target is detected |
13 | 12 |
* |
14 | 13 |
* 37.5ms * 8 MHz / 8 prescaler = 37500 max wait |
14 |
* 37.5ms * 16 MHz / 8 prescaler = problem |
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15 | 15 |
*/ |
16 | 16 |
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// so that we can test on a 328 or the stk600 |
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#if defined(__AVR_ATmega128RFA1__) || defined(__AVR_ATmega2560__) |
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# define read_INT0 (PIND & _BV(PD0)) |
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# define read_INT1 (PIND & _BV(PD1)) |
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#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) |
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# define read_INT0 (PIND & _BV(PD2)) |
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# define read_INT1 (PIND & _BV(PD3)) |
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#else |
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# error "Please define read_INTx for this device" |
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#endif |
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28 | 17 |
struct range_t { |
29 | 18 |
unsigned int start; // timer value on rising edge |
30 | 19 |
unsigned int value; // last measured range |
... | ... | |
33 | 22 |
static void on_edge(int which) |
34 | 23 |
{ |
35 | 24 |
unsigned char int_high; |
36 |
// TODO centralize timer 5 |
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37 |
// TODO ensure this is in microseconds even for 16MHz |
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38 | 25 |
unsigned int time = TCNT5; |
39 | 26 |
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40 | 27 |
if (which) |
41 | 28 |
{ |
42 |
int_high = read_INT1;
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int_high = PIN_SONAR_PWM & _BV(P_SONAR_PWM1);
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43 | 30 |
} |
44 | 31 |
else |
45 | 32 |
{ |
46 |
int_high = read_INT0;
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int_high = PIN_SONAR_PWM & _BV(P_SONAR_PWM0);
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47 | 34 |
} |
48 | 35 |
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49 | 36 |
if (int_high) |
... | ... | |
57 | 44 |
} |
58 | 45 |
} |
59 | 46 |
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60 |
ISR(INT0_vect)
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ISR(INT3_vect)
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61 | 48 |
{ |
62 | 49 |
on_edge(0); |
63 | 50 |
} |
64 | 51 |
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65 |
ISR(INT1_vect)
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ISR(INT2_vect)
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66 | 53 |
{ |
67 | 54 |
on_edge(1); |
68 | 55 |
} |
... | ... | |
70 | 57 |
void range_init() |
71 | 58 |
{ |
72 | 59 |
// ISCx = 1, edge triggered |
73 |
EICRA |= _BV(ISC10) | _BV(ISC00);
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// enable INT0 and INT1
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EIMSK |= _BV(INT1) | _BV(INT0);
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EICRA |= _BV(ISC20) | _BV(ISC30);
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// enable INT2 and INT3
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EIMSK |= _BV(INT2) | _BV(INT3);
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76 | 63 |
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77 | 64 |
// CS1 = 2, 1/8 prescaler |
78 | 65 |
// if this is changed, remember to change recv_edge in bom.cpp! |
scout_avr/src/range.h | ||
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3 | 3 |
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4 | 4 |
#define RANGE_ERR 0xFFFF |
5 | 5 |
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#define PIN_SONAR_PWM PIND |
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#define P_SONAR_PWM1 PD2 |
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#define P_SONAR_PWM0 PD3 |
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#define PORT_SONAR_TX PORTG |
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#define P_SONAR_TX PG1 |
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6 | 13 |
void range_init(); |
7 | 14 |
unsigned int range_get(int which); |
8 | 15 |
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