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[Krobot-commits] [SCM] krobot branch, master, updated. 571cf29bee323ec3af59dee4596c2bca363e119b
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From: Olivier B. <Ba...@us...> - 2010-05-03 20:43:39
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This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 571cf29bee323ec3af59dee4596c2bca363e119b (commit)
from bd7d041911c2068e56439d09796d395a78a8c911 (commit)
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- Log -----------------------------------------------------------------
commit 571cf29bee323ec3af59dee4596c2bca363e119b
Author: unknown <Olivier@.(none)>
Date: Mon May 3 22:43:14 2010 +0200
New firmware version to handle the door
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Interface_Robot/Firmware/main.c b/elec/boards/Interface_Robot/Firmware/main.c
index 2addeb9..78620d2 100644
--- a/elec/boards/Interface_Robot/Firmware/main.c
+++ b/elec/boards/Interface_Robot/Firmware/main.c
@@ -245,22 +245,26 @@ char ResetSource(void);
// On rtorise l'interruption
PIR1bits.RCIF = 0;
}
-/*
- // Interruption par le timer0
- if (INTCONbits.TMR0IF) {
- interruptMotor1();
-
- // On rtorise l'interruption
- INTCONbits.TMR0IF = 0;
- }
-*/
- // Interruption par le timer1
- if (PIR1bits.TMR1IF) {
- interruptMotor2();
-
- // On rtorise l'interruption
- PIR1bits.TMR1IF = 0;
- }
+
+ #ifdef MODE_INAB
+ // Interruption par le timer0
+ if (INTCONbits.TMR0IF) {
+ interruptMotor1();
+
+ // On rtorise l'interruption
+ INTCONbits.TMR0IF = 0;
+ }
+ #endif
+
+ #ifdef MODE_SENS
+ // Interruption par le timer1
+ if (PIR1bits.TMR1IF) {
+ interruptMotor2();
+
+ // On rtorise l'interruption
+ PIR1bits.TMR1IF = 0;
+ }
+ #endif
// restauration des registres de calcul
PRODL = sProdL;
@@ -276,13 +280,15 @@ char ResetSource(void);
sProdL = PRODL;
sProdH = PRODH;
- // Interruption par le timer0
- if (INTCONbits.TMR0IF) {
- interruptMotor1();
-
- // On rtorise l'interruption
- INTCONbits.TMR0IF = 0;
- }
+ #ifdef MODE_SENS
+ // Interruption par le timer0
+ if (INTCONbits.TMR0IF) {
+ interruptMotor1();
+
+ // On rtorise l'interruption
+ INTCONbits.TMR0IF = 0;
+ }
+ #endif
// restauration des registres de calcul
PRODL = sProdL;
diff --git a/elec/boards/Interface_Robot/Firmware/mcc.c b/elec/boards/Interface_Robot/Firmware/mcc.c
index ed902f8..2f8194b 100644
--- a/elec/boards/Interface_Robot/Firmware/mcc.c
+++ b/elec/boards/Interface_Robot/Firmware/mcc.c
@@ -15,9 +15,15 @@ volatile unsigned long durationMotor2 = 0;
void initMCC(char withEncoder) {
/* Initialisation des PINs */
- TRISA&= 0b11111110; /* M1_SENS */
- TRISB&= 0b11000011; /* M1_EN, M2_PWM, M2_SENS, M2_EN */
- TRISC&= 0b11111011; /* M1_PWM */
+ #ifdef MODE_SENS
+ TRISA&= 0b11111110; /* M1_SENS */
+ TRISB&= 0b11000011; /* M1_EN, M2_PWM, M2_SENS, M2_EN */
+ TRISC&= 0b11111011; /* M1_PWM */
+ #else
+ TRISA&= 0b11111110; /* M1_INA */
+ TRISB&= 0b11101011; /* M1_EN, M1_INB */
+ TRISC&= 0b11111011; /* M1_PWM */
+ #endif
/* Configuration du timer2 */
OpenTimer2(TIMER_INT_OFF /* pas d'interruption sur le timer2 */
@@ -45,37 +51,46 @@ void initMCC(char withEncoder) {
);
}
- INTCON2bits.TMR0IP = 0; // Low priority interrupt for timer0
-
- // Configuration du timer1
- if (withEncoder & MOTOR_LEFT) {
- OpenTimer1(TIMER_INT_ON // active le timer1
- & T1_16BIT_RW // compte sur 16 bits
- & T1_SOURCE_EXT // utilise le signal de l'encodeur 2 comme horloge
- & T1_PS_1_1 // incrnte le compteur haque cycle (1:1)
- & T1_OSC1EN_OFF // pas d'oscillateur sur le timer1
- & T1_SYNC_EXT_OFF // ne pas se synchroniser sur une horloge externe
- );
-
- WriteTimer1(0);
- }
- else {
- OpenTimer1(TIMER_INT_ON // active le timer
- & T1_16BIT_RW // compte sur 16 bits
- & T1_SOURCE_INT // utilise l'horloge interne
- & T1_PS_1_8 // incrnte le compteur tout les 8 cycles (1:8)
- & T1_OSC1EN_OFF // pas d'oscillateur sur le timer1
- & T1_SYNC_EXT_OFF // ne pas se synchroniser sur une horloge externe
- );
- }
+ #ifdef MODE_SENS
+ INTCON2bits.TMR0IP = 0; // Low priority interrupt for timer0
+
+ // Configuration du timer1
+ if (withEncoder & MOTOR_LEFT) {
+ OpenTimer1(TIMER_INT_ON // active le timer1
+ & T1_16BIT_RW // compte sur 16 bits
+ & T1_SOURCE_EXT // utilise le signal de l'encodeur 2 comme horloge
+ & T1_PS_1_1 // incrnte le compteur haque cycle (1:1)
+ & T1_OSC1EN_OFF // pas d'oscillateur sur le timer1
+ & T1_SYNC_EXT_OFF // ne pas se synchroniser sur une horloge externe
+ );
+
+ WriteTimer1(0);
+ }
+ else {
+ OpenTimer1(TIMER_INT_ON // active le timer
+ & T1_16BIT_RW // compte sur 16 bits
+ & T1_SOURCE_INT // utilise l'horloge interne
+ & T1_PS_1_8 // incrnte le compteur tout les 8 cycles (1:8)
+ & T1_OSC1EN_OFF // pas d'oscillateur sur le timer1
+ & T1_SYNC_EXT_OFF // ne pas se synchroniser sur une horloge externe
+ );
+ }
+ #endif
/* Initialisation de l't des PINs */
- M1_EN = 0;
- M2_EN = 0;
- M1_SENS = 0;
- M2_SENS = 0;
- M1_PWM = 0;
- M2_PWM = 0;
+ #ifdef MODE_SENS
+ M1_EN = 0;
+ M2_EN = 0;
+ M1_PWM = 0;
+ M2_PWM = 0;
+ M1_SENS = 0;
+ M2_SENS = 0;
+ #else
+ M1_EN = 0;
+ M1_PWM = 0;
+ M1_INA = 0;
+ M1_INB = 0;
+ #endif
}
void interruptMotor1() {
@@ -88,23 +103,30 @@ void interruptMotor1() {
//ClosePWM1();
CCP1CON = 0;
M1_PWM = 0;
+
+ #ifdef MODE_INAB
+ M1_INA = 0;
+ M1_INB = 0;
+ #endif
}
}
}
-void interruptMotor2() {
- WriteTimer1(5536); // 2^16 - 60 000 : la prochaine interruption a lieu dans 60 000 cycles * 8 = 40 ms
-
- if (durationMotor2 > 0) {
- durationMotor2--;
-
- if (durationMotor2 == 0) {
- //ClosePWM2();
- CCP2CON = 0;
- M2_PWM = 0;
+#ifdef MODE_SENS
+ void interruptMotor2() {
+ WriteTimer1(5536); // 2^16 - 60 000 : la prochaine interruption a lieu dans 60 000 cycles * 8 = 40 ms
+
+ if (durationMotor2 > 0) {
+ durationMotor2--;
+
+ if (durationMotor2 == 0) {
+ //ClosePWM2();
+ CCP2CON = 0;
+ M2_PWM = 0;
+ }
}
}
-}
+#endif
/**
* Active un ou plusieurs axe(s) moteur(s).
@@ -118,11 +140,15 @@ void interruptMotor2() {
* #MOTOR_BOTH les 2 moteurs
*/
void enableMotor(char axis) {
- if (axis & MOTOR_RIGHT)
+ #ifdef MODE_SENS
+ if (axis & MOTOR_RIGHT)
+ M1_EN = 1;
+
+ if (axis & MOTOR_LEFT)
+ M2_EN = 1;
+ #else
M1_EN = 1;
-
- if (axis & MOTOR_LEFT)
- M2_EN = 1;
+ #endif
}
/**
@@ -136,11 +162,15 @@ void enableMotor(char axis) {
* #MOTOR_BOTH les 2 moteurs
*/
void disableMotor(char axis) {
- if (axis & MOTOR_RIGHT)
+ #ifdef MODE_SENS
+ if (axis & MOTOR_RIGHT)
+ M1_EN = 0;
+
+ if (axis & MOTOR_LEFT)
+ M2_EN = 0;
+ #else
M1_EN = 0;
-
- if (axis & MOTOR_LEFT)
- M2_EN = 0;
+ #endif
}
/**
@@ -155,11 +185,40 @@ void disableMotor(char axis) {
* @param duration durd'activation, en ms (0 = rotation continue)
*/
void move(char axis, char sens, BYTE speed, unsigned long duration) {
- if (axis & MOTOR_RIGHT) {
+ #ifdef MODE_SENS
+ if (axis & MOTOR_RIGHT) {
+ durationMotor1 = duration / 40;
+ WriteTimer0(5536);
+
+ M1_SENS = sens;
+
+ // PWM period =[(period ) + 1] x 4 x TOSC x TMR2 prescaler
+ // TMR2 prescaler = 1
+ OpenPWM1((char) ((float) CLOCK_FREQ / (4.0 * (float) PWM_FREQ * 16.0) - 1.0));
+
+ // PWM x Duty cycle = (DCx<9:0>) x TOSC
+ SetDCPWM1((unsigned int) ((float) speed / 255.0 * (MOTOR1_VOLTAGE / H_BRIDGE_VOLTAGE) * (float) CLOCK_FREQ / (float) PWM_FREQ) / 16.0);
+ }
+
+ if (axis & MOTOR_LEFT) {
+ durationMotor2 = duration / 40;
+ WriteTimer1(5536);
+
+ M2_SENS = sens;
+
+ // PWM period =[(period ) + 1] x 4 x TOSC x TMR2 prescaler
+ // TMR2 prescaler = 1
+ OpenPWM2((char) ((float) CLOCK_FREQ / (4.0 * (float) PWM_FREQ * 16.0) - 1.0));
+
+ // PWM x Duty cycle = (DCx<9:0>) x TOSC
+ SetDCPWM2((unsigned int) ((float) speed / 255.0 * (MOTOR1_VOLTAGE / H_BRIDGE_VOLTAGE) * (float) CLOCK_FREQ / (float) PWM_FREQ) / 16.0);
+ }
+ #else
durationMotor1 = duration / 40;
WriteTimer0(5536);
- M1_SENS = sens;
+ M1_INA = sens;
+ M1_INB = ~sens;
// PWM period =[(period ) + 1] x 4 x TOSC x TMR2 prescaler
// TMR2 prescaler = 1
@@ -167,34 +226,35 @@ void move(char axis, char sens, BYTE speed, unsigned long duration) {
// PWM x Duty cycle = (DCx<9:0>) x TOSC
SetDCPWM1((unsigned int) ((float) speed / 255.0 * (MOTOR1_VOLTAGE / H_BRIDGE_VOLTAGE) * (float) CLOCK_FREQ / (float) PWM_FREQ) / 16.0);
- }
-
- if (axis & MOTOR_LEFT) {
- durationMotor2 = duration / 40;
- WriteTimer1(5536);
-
- M2_SENS = sens;
-
- // PWM period =[(period ) + 1] x 4 x TOSC x TMR2 prescaler
- // TMR2 prescaler = 1
- OpenPWM2((char) ((float) CLOCK_FREQ / (4.0 * (float) PWM_FREQ * 16.0) - 1.0));
-
- // PWM x Duty cycle = (DCx<9:0>) x TOSC
- SetDCPWM2((unsigned int) ((float) speed / 255.0 * (MOTOR1_VOLTAGE / H_BRIDGE_VOLTAGE) * (float) CLOCK_FREQ / (float) PWM_FREQ) / 16.0);
- }
+ #endif
}
BOOL checkTOR(void) {
// M1_SENS == 0 : up (IN3 = RD7 = TOR2)
// M1_SENS == 1 : down (IN2 = RD6 = TOR1)
- if ((M1_SENS == 1 && !TOR1) || (M1_SENS == 0 && !TOR2)) {
- //ClosePWM1();
- CCP1CON = 0;
- M1_PWM = 0;
- durationMotor1 = 0;
- return TRUE;
- }
+ #ifdef MODE_SENS
+ if ((M1_SENS == 1 && !TOR1) || (M1_SENS == 0 && !TOR2)) {
+ //ClosePWM1();
+ CCP1CON = 0;
+ M1_PWM = 0;
+ durationMotor1 = 0;
+ return TRUE;
+ }
+ #else
+ if ((M1_INA == 1 && M1_INB == 0 && !TOR1) || (M1_INA == 0 && M1_INB == 1 && !TOR2)) {
+ CCP1CON = 0;
+ M1_PWM = 0;
+
+ #ifdef MODE_INAB
+ M1_INA = 0;
+ M1_INB = 0;
+ #endif
+
+ durationMotor1 = 0;
+ return TRUE;
+ }
+ #endif
return FALSE;
}
diff --git a/elec/boards/Interface_Robot/Firmware/mcc.h b/elec/boards/Interface_Robot/Firmware/mcc.h
index 814f33b..bb7c985 100644
--- a/elec/boards/Interface_Robot/Firmware/mcc.h
+++ b/elec/boards/Interface_Robot/Firmware/mcc.h
@@ -18,6 +18,8 @@
#define H_BRIDGE_VOLTAGE 24.0
#define MOTOR1_VOLTAGE 15.0
#define MOTOR2_VOLTAGE 15.0
+//#define MODE_SENS
+#define MODE_INAB
// Entr / sorties
#define ENC1_A PORTAbits.RA4
@@ -26,6 +28,8 @@
#define M1_EN PORTBbits.RB2
#define M1_PWM PORTCbits.RC2
#define M1_SENS PORTAbits.RA0
+#define M1_INA PORTAbits.RA0
+#define M1_INB PORTBbits.RB4 // Only available if M2 is not used (mode MODE_INAB)
#define ENC2_A PORTCbits.RC0
#define ENC2_B PORTAbits.RA2
diff --git a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof
index 0c2c36b..9685c05 100644
Binary files a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof and b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.cof differ
diff --git a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex
index 7ec98f4..bae90d2 100644
--- a/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex
+++ b/elec/boards/Interface_Robot/Firmware/output/Robot_Interface.hex
@@ -1,974 +1,933 @@
:020000040000FA
-:0600000094EF20F0120055
+:0600000071EF1FF0120079
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000094EF20F012004D
+:0608000071EF1FF0120071
:0608080034EF04F01200C1
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-:1008300086000000240000009E410000CB00000064
-:100840002100000095410000130100000900000094
-:1008500085410000EC000000100000007C41000019
+:0608180094EF04F0120051
+:06082A000500793F00000B
+:100830008600000024000000583F0000CB000000AC
+:10084000210000004F3F00001301000009000000DC
+:100850003F3F0000EC00000010000000363F0000A9
:080860000A010000090000007C
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