No ja som mal problem s prevodnikmi na RS232 konkretne s programatorom Pony prog a to taky, ze nahravanie trvalo i hodinu (Problem bol v tom, ze programator vyuzival riadiace linky RS232 portu ale ten prevodnik to prepinanie Log 0 a 1 proste nezvladal robit dostatocne rychlo a preto nahravanie trvalo hodne dlho aspon teda myslim). Skus to pustit s parametrami -vvv a pockat hodne dlho:-)
No já jsem již v minulých příspěvcích popisoval, že přes ten program Rogic se to nahrává úplně v pohodě, i hodně dlouhý programy se nahrají za méně než 30s. Můžu vám napsat co mám v souborech main.h a program.c
main.h
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
#include <stdlib.h>
#define IS(input) (input<6)?(PINC & (1<<input)):(PINB & (1<<(input-4)))
#define SET(output) (output<2)?(PORTB |= (1<<output)):(PORTD |= (1<<output))
#define CLR(output) (output<2)?(PORTB &= ~(1<<output)):(PORTD &= ~(1<<output))
#define OUT1 0x01
#define OUT2 0x02
#define OUT3 0x04
#define OUT4 0x08
#define OUT5 0x10
#define OUT6 0x20
#define OUT7 0x40
#define OUT8 0x80
#define IN1 (INPUT&0x01)
#define IN2 (INPUT&0x02)
#define IN3 (INPUT&0x04)
#define IN4 (INPUT&0x08)
#define IN5 (INPUT&0x10)
#define IN6 (INPUT&0x20)
#define IN7 (INPUT&0x40)
#define REMOCON1 (REMOCON&0x01)
#define REMOCON2 (REMOCON&0x02)
#define REMOCON3 (REMOCON&0x04)
#define REMOCON4 (REMOCON&0x08)
#define REMOCON5 (REMOCON&0x10)
#define PWM_PERIOD 200 // 0.01us X 200 = 2ms
/// General function declaration
void sensor(void); //interrupt func
unsigned char RcvCal(unsigned char data); //interrupt remocon func
void RcvRemoconData(unsigned char raw_nbl_data); //interrupt remocon func
void motor1(signed int velocity);
void motor2(signed int velocity);
void motor3(signed int velocity);
void motor4(signed int velocity);
void servo1(unsigned char position);//0~256
void servo2(unsigned char position);//0~256
void servo3(unsigned char position);//0~256
void servo4(unsigned char position);//0~256
void servo5(unsigned char position);//0~256
void servo6(unsigned char position);//0~256
void servo7(unsigned char position);//0~256
void servo8(unsigned char position);//0~256
void delay_ms(unsigned int count);
void Delay_us(unsigned int count);
void on(unsigned char output_port);
void off(unsigned char output_port);
volatile unsigned char spdTable[16] = {0,15,30,45,60,75,90,105,120,135,150,160,170,180,190,200};
volatile unsigned char g_bPwmDuty[8] = {0, 0, 0, 0, 0, 0, 0, 0};
volatile unsigned char g_bPortServo = 0;
volatile unsigned char g_bServoStart = 0;
volatile unsigned int g_iServoPosition[8];
volatile unsigned char g_cMotor=0;
volatile unsigned int g_iServoTracking[8];
volatile unsigned int g_iServoVelocity[8];
volatile unsigned char g_bPortLevel=0;
volatile unsigned char g_bPortFlag=0;
volatile unsigned char RemoconPort = 6;
volatile unsigned char PreRemoconLevelFlag = 0;
volatile unsigned char RemoconHighCnt = 0;
volatile unsigned char RemoconLowCnt = 0;
volatile unsigned char REMOCON = 0; // the remocon key data : [/][/][/][M][R][L][B][F]
volatile unsigned char RemoconUse = 0; //remocon use flag
volatile unsigned char T = 1;
volatile unsigned char INPUT=0;
volatile unsigned char REMOCON_USE=0;
volatile unsigned int g_iGlobalDelay=0;
ISR(SIG_OVERFLOW1)
{
static unsigned int temp=0;
if(g_bPortServo & (1<<g_cMotor))
{
g_iServoTracking[g_cMotor]=g_iServoPosition[g_cMotor];
if(g_bPortLevel)
{
SET(g_cMotor);
temp=0xffff-g_iServoTracking[g_cMotor];
TCNT1=temp;
g_bPortLevel=0;
}
else
{
CLR(g_cMotor);
temp=0x0af0-g_iServoTracking[g_cMotor];
temp=0xffff-temp;
TCNT1=temp;
g_bPortLevel=1;
g_cMotor++;
if(g_cMotor>7) g_cMotor=0;
}
}
else
{
TCNT1= 0xf50f;
g_cMotor++;
if(g_cMotor>7) g_cMotor=0;
}
}
ISR(SIG_OUTPUT_COMPARE2)
{
sensor();
g_iGlobalDelay++;
if((g_bPortServo & 0x01)==0)
{
if((g_bPortFlag & 0x01) && T<=g_bPwmDuty[0])
PORTB |= 0x01;
else
PORTB &= ~0x01;
}
if((g_bPortServo & 0x02)==0)
{
if((g_bPortFlag & 0x02) && T<=g_bPwmDuty[1])
PORTB |= 0x02;
else
PORTB &= ~0x02;
}
if((g_bPortServo & 0x04)==0)
{
if((g_bPortFlag & 0x04) && T<=g_bPwmDuty[2])
PORTD |= 0x04;
else
PORTD &= ~0x04;
}
if((g_bPortServo & 0x08)==0)
{
if((g_bPortFlag & 0x08) && T<=g_bPwmDuty[3])
PORTD |= 0x08;
else
PORTD &= ~0x08;
}
if((g_bPortServo & 0x10)==0)
{
if((g_bPortFlag & 0x10) && T<=g_bPwmDuty[4])
PORTD |= 0x10;
else
PORTD &= ~0x10;
}
if((g_bPortServo & 0x20)==0)
{
if((g_bPortFlag & 0x20) && T<=g_bPwmDuty[5])
PORTD |= 0x20;
else
PORTD &= ~0x20;
}
if((g_bPortServo & 0x40)==0)
{
if((g_bPortFlag & 0x40) && T<=g_bPwmDuty[6])
PORTD |= 0x40;
else
PORTD &= ~0x40;
}
if((g_bPortServo & 0x80)==0)
{
if((g_bPortFlag & 0x80) && T<=g_bPwmDuty[7])
PORTD |= 0x80;
else
PORTD &= ~0x80;
}
if(PreRemoconLevelFlag)
{
if(IS(RemoconPort))
{
RemoconHighCnt++;
}
else
{
RemoconLowCnt = 1;
RcvRemoconData(RemoconHighCnt);
PreRemoconLevelFlag = 0;
}
}
else
{
if(IS(RemoconPort))
{
RemoconHighCnt = 1;
PreRemoconLevelFlag = 1;
}
else
{
if(RemoconLowCnt++ > 20)
{
RemoconLowCnt = 1;
REMOCON = 0;
}
}
}
if(T == PWM_PERIOD) T = 1;
else T++;
}
unsigned char RcvCal(unsigned char data)
{
if(data<70)
{
if(data<20) return 1;
else if(data<30) return 2;
else if(data<40) return 3;
else if(data<50) return 4;
else if(data<60) return 5;
else if(data<70) return 6;
}
else if(data<130)
{
if(data<80) return 7;
else if(data<90) return 8;
else if(data<100) return 9;
else if(data<110) return 10;
else if(data<120) return 11;
else if(data<130) return 12;
}
else if(data<190)
{
if(data<140) return 13;
else if(data<150) return 14;
else if(data<160) return 15;
else if(data<170) return 16;
else if(data<180) return 17;
else if(data<190) return 18;
}
return 0;
}
void servo1(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x01;
g_bPortFlag &= ~ (0x01);
g_iServoVelocity[0]=0x40;
g_iServoPosition[0]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x01)==0) g_iServoTracking[0]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x01;
}
void servo2(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x02;
g_bPortFlag &= ~ (0x02);
g_iServoVelocity[1]=0x40;
g_iServoPosition[1]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x02)==0) g_iServoTracking[1]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x02;
}
void servo3(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x04;
g_bPortFlag &= ~ (0x04);
g_iServoVelocity[2]=0x40;
g_iServoPosition[2]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x04)==0) g_iServoTracking[2]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x04;
}
void servo4(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x08;
g_bPortFlag &= ~ (0x08);
g_iServoVelocity[3]=0x40;
g_iServoPosition[3]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x08)==0) g_iServoTracking[3]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x08;
}
void servo5(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x10;
g_bPortFlag &= ~ (0x10);
g_iServoVelocity[4]=0x40;
g_iServoPosition[4]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x10)==0) g_iServoTracking[4]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x10;
}
void servo6(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x20;
g_bPortFlag &= ~ (0x20);
g_iServoVelocity[5]=0x40;
g_iServoPosition[5]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x20)==0) g_iServoTracking[5]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x20;
}
void servo7(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x40;
g_bPortFlag &= ~ (0x40);
g_iServoVelocity[6]=0x40;
g_iServoPosition[6]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x40)==0) g_iServoTracking[6]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x40;
}
void servo8(unsigned char position)
{
if(position>205) position=205;
g_bPortServo |= 0x80;
g_bPortFlag &= ~ (0x80);
g_iServoVelocity[7]=0x40;
g_iServoPosition[7]=(unsigned int)((position<<3)+650);
if((g_bServoStart&0x80)==0) g_iServoTracking[7]=(unsigned int)((position<<3)+650);
g_bServoStart|=0x80;
}
void RcvRemoconData(unsigned char raw_nbl_data)
{
unsigned char cal_data;
static unsigned char step = 0;
static unsigned char buf[2];
unsigned char nbl_data;
if(raw_nbl_data < 185)
{
cal_data=raw_nbl_data+5;
nbl_data=RcvCal(cal_data);
}
else
nbl_data = 0;
switch(step)
{
case 0:
if(nbl_data == 1)
step++;
break;
case 1:
buf[0] = nbl_data - 2;
step++;
break;
case 2:
buf[1] = nbl_data - 2;
REMOCON = ((buf[0]&0x0F)|((buf[1]<<4)&0xF0));
step = 0;
break;
}
}
void motor1(signed int velocity)
{
g_bPortFlag|=0x03;
g_bPortServo&=~(0x03);
if(velocity==0)
{
g_bPwmDuty[0] = 200;
g_bPwmDuty[1] = 200;
}
else if(velocity<0)
{
g_bPwmDuty[0] = 0;
g_bPwmDuty[1] = spdTable[abs(velocity)];
}
else
{
g_bPwmDuty[0] = spdTable[velocity];
g_bPwmDuty[1] = 0;
}
}
void motor2(signed int velocity)
{
g_bPortFlag|=0x0c;
g_bPortServo&=~(0x0c);
if(velocity==0)
{
g_bPwmDuty[2] = 200;
g_bPwmDuty[3] = 200;
}
else if(velocity<0)
{
g_bPwmDuty[2] = 0;
g_bPwmDuty[3] = spdTable[abs(velocity)];
}
else
{
g_bPwmDuty[2] = spdTable[velocity];
g_bPwmDuty[3] = 0;
}
}
void motor3(signed int velocity)
{
g_bPortFlag|=0x30;
g_bPortServo&=~(0x30);
if(velocity==0)
{
g_bPwmDuty[4] = 200;
g_bPwmDuty[5] = 200;
}
else if(velocity<0)
{
g_bPwmDuty[4] = 0;
g_bPwmDuty[5] = spdTable[abs(velocity)];
}
else
{
g_bPwmDuty[4] = spdTable[velocity];
g_bPwmDuty[5] = 0;
}
}
void motor4(signed int velocity)
{
g_bPortFlag|=0xc0;
g_bPortServo&=~(0xc0);
if(velocity==0)
{
g_bPwmDuty[6] = 200;
g_bPwmDuty[7] = 200;
}
else if(velocity<0)
{
g_bPwmDuty[6] = 0;
g_bPwmDuty[7] = spdTable[abs(velocity)];
}
else
{
g_bPwmDuty[6] = spdTable[velocity];
g_bPwmDuty[7] = 0;
}
}
void on(unsigned char output_port)
{
unsigned char i;
for(i=0;i<8;i++)
{
if(output_port&(1<<i))
{
g_bPortFlag|=(1<<i);
g_bPortServo&=~(1<<i);
g_bPwmDuty[i]=200;
}
}
}
void off(unsigned char output_port)
{
unsigned char i;
for(i=0;i<8;i++)
{
if(output_port&(1<<i))
{
g_bPortFlag&=~(1<<i);
g_bPortServo&=~(1<<i);
g_bPwmDuty[i]=0;
}
}
}
void delay_ms(unsigned int count)
{
unsigned int i;
for(i=0;i<count;i++)
{
Delay_us(840);
}
}
void Delay_us(unsigned int count)
{
unsigned int i;
for(i=0;i<count;i++);
}
void sensor(void)
{
INPUT=~(PINC&0x3f);
if(PINB&0x04) INPUT&=~(0x40);
else INPUT|=0x40;
INPUT&=0x7f;
}
void start(void)
{
DDRB |= 0x03;
DDRD |= 0xFC;
TIMSK |= 0x80;
TCCR2 = 0x0a;
OCR2 = 100;
TCCR1A = 0x00;
TCCR1B = 0x02;
TIMSK|=0x04;
PORTB |= 0x04;
PORTC |= 0x3F;
sei();
delay_ms(500);
}
void end(void)
{
motor1(0);
motor2(0);
motor3(0);
motor4(0);
PORTB = 0x00;
PORTC = 0x00;
off(OUT1);
off(OUT2);
off(OUT3);
off(OUT4);
off(OUT5);
off(OUT6);
off(OUT7);
off(OUT8);
}
program.c
#include "main.h"
int main(void)
{
start();
on(OUT6);
delay_ms(1000);
off(OUT6);
end();
return 0;
}
37 Odpovědí
6069 Zhlédnutí