213 lines
4.8 KiB
C
213 lines
4.8 KiB
C
#include <stdlib.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/pgmspace.h>
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#include <util/delay.h>
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#include <string.h>
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#include "utils.h"
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#include "main.h"
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#include "uart.h"
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#define POWER_MIN 0
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#define POWER_MAX 400
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#define BUFSIZE 32
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volatile uint16_t syscounter = 0;
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// values send over uart from powerboard
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typedef struct {
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uint16_t voltage_gen;
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uint16_t voltage_reg;
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uint16_t current_gen;
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struct {
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uint8_t loadsw : 1;
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uint8_t gensw : 1;
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uint8_t batsw : 1;
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};
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} PWR_DATA;
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static PWR_DATA pd;
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uint8_t data_count = 0;
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char data_in[BUFSIZE];
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void reset_input_buffer(void) {
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data_count = 0;
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memset(data_in, 0, BUFSIZE);
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}
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static void timer_init(void) {
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// clock is 8MHz
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TCCR1B |= _BV(WGM12) | _BV(CS11) | _BV(CS10); // CTC Mode for Timer 1 (16Bit) with prescale of 64
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OCR1A = 2250; // Neutralposition ((2500-2312)*0.008ms)=1,5ms)
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TIMSK = _BV(OCIE1A);
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TCCR1A = (1<<COM1A0); // Togglen bei Compare Match
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}
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static void ports_init(void) {
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DDRB |= _BV(PB3);
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}
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static void process_command(char *command) {
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if(command[0] == 'A') {
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// command must be in the following format:
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// A$voltage_gen,$voltage_reg,$current_gen,loadsw,batsw,gensw\n
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// examples:
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// A24500,13400,12000,1,1,1B
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// A19900,11000,15000,1,1,1B
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// A20000,12300,10000,1,1,1B
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char *token;
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uint8_t tokencounter = 0;
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token = strtok(command, ",");
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while( token ) {
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switch(tokencounter) {
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case 0:
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pd.voltage_gen = atoi(++token); // skip the A in front of the number
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break;
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case 1:
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pd.voltage_reg = atoi(token);
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break;
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case 2:
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pd.current_gen = atoi(token);
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break;
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case 3:
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if(atoi(token) == 1) pd.loadsw = 1;
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else pd.loadsw = 0;
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break;
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case 4:
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if(atoi(token) == 1) pd.batsw = 1;
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else pd.batsw = 0;
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break;
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case 5:
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if(atoi(token) == 1) pd.gensw = 1;
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else pd.gensw = 0;
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break;
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}
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tokencounter++;
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token = strtok(NULL, ",");
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}
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}
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}
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static void work_uart() {
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uint16_t c = uart_getc();
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if ( !(c & UART_NO_DATA) ) {
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data_in[data_count] = (c & 0xff);
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/*
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uart_print_uint16(data_count);
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uart_puts_P(" char: ");
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uart_putc(c >> 8);
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uart_putc(c & 0xff);
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uart_puts_P(";\r\n");
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*/
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/*
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uart_puts_P("data: ");
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for(uint8_t i = 0; i < BUFSIZE; i++) {
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uart_putc(data_in[i]);
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}
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uart_puts_P("\r\n");
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*/
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if (data_in[data_count] == 'B') {
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process_command(data_in);
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reset_input_buffer();
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}
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data_count++;
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if(data_count >= BUFSIZE) {
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reset_input_buffer();
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}
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}
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}
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/**
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* \brief set the servo to a position calculated to given power
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*
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* \param display The power value from 0 to 400 (including bounds)
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*/
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void set_servo(uint16_t display) {
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if( display < 1 ) display = POWER_MIN;
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if( display > POWER_MAX ) display = POWER_MAX;
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display = POWER_MAX-display; // invert the value / servo
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display = display * 10; // shift, since we have to divide by 3,2 (32)
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display = display / 32; // instead of dividing by 3,2
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display = display + 125;
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cli(); // read and write atomic
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if( display < 125 ) display = 125;
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if( display > 250 ) display = 250;
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OCR1A = 2500-display;
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sei();
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}
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/**
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* \brief the method moves the servo one complete cycle
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*/
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void demo_display(void) {
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set_servo(0);
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wait(100);
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set_servo(400);
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wait(100);
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set_servo(0);
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wait(100);
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}
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int main(void) {
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sei();
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ports_init();
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timer_init();
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uart_init(UART_BAUD_SELECT(38400,F_CPU));
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reset_input_buffer();
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demo_display();
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uint32_t power;
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while(1) {
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work_uart();
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if(syscounter >= 100) { // about every two seconds
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memset(data_in, 0, BUFSIZE);
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data_count = 0;
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uart_putc('a'); // send a to receive values from master box
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power = ( (pd.voltage_gen / 100) * (pd.current_gen / 100) ) / 100;
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set_servo(power & 0xffff);
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syscounter = 0;
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}
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}
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return(0);
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}
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/**
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* \brief this is our timer for PWM generation and system clock
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* the system clock varies a bit, but this does not matter
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*/
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ISR(TIMER1_COMPA_vect) {
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syscounter++;
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OCR1A = 2500-OCR1A; // Das Servosignal wird aus der Differenz von
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// Periodenlänge (2500*0,008ms=20ms) und letztem
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// Vergleichswert (OCR1A) gebildet
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}
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