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Commit 7a562d0d authored by Sergi Hernandez's avatar Sergi Hernandez
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Added support for the Analog to digital converter.

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Makefile
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− 1
View file @ 7a562d0d
......@@ -2,7 +2,7 @@ PROJECT=bioloid_exp
########################################################
# afegir tots els fitxers que s'han de compilar aquí
########################################################
SOURCES=src/main.c src/dyn_slave_se.c src/dyn_slave_diff.c src/mem.c src/dyn_common.c src/ports.c
SOURCES=src/main.c src/dyn_slave_se.c src/dyn_slave_diff.c src/mem.c src/dyn_common.c src/ports.c src/adc.c
OBJS=$(SOURCES:.c=.o)
SRC_DIR=./src/
INCLUDE_DIR=./include/
......
include/adc.h 0 → 100644
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− 0
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#ifndef _ADC_H
#define _ADC_H
#include <avr/io.h>
#include <avr/interrupt.h>
void adc_init(void);
void adc_start(void);
void adc_stop(void);
void adc_set_num_samples(unsigned char num);
#endif
include/memory_map.h
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− 42
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......@@ -7,48 +7,145 @@
#define Version_Firmware 0X02 //2 - 0X00 R - Information on the version of firmware
#define ID 0X03 //3 - 0X03 R/W - ID of Dynamixel
#define Baud_Rate 0X04 //4 - 0X01 R/W - Baud Rate of Dynamixel
#define Return_Delay_Time 0X05 //5 - 0XFA R/W - Return Delay Time
#define Status_Return_Level 0X10
#define Return_Delay_Time 0X05 //5 - 0XFA R/W - Return Delay Time (value*2us) currently not implemented
#define Status_Return_Level 0X10 //16 - 0x10 R/W - Level os reply information
// EEPROM end at 0x1F
// RAM starts at 0x20
#define ADC_CONTROL 0x20 //32 - 0x20 R/W ADC control bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// running enable
#define ADC_NUM_SAMPLES 0x21 //33 - 0x21 R/W Number of sample to average
#define GPIO0_config 0x30 //48 - 0x30 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO0_data 0x31 //49 - 0x31 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO1_config 0x32 //50 - 0x32 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO1_data 0x33 //51 - 0x33 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO2_config 0x34 //52 - 0x34 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO2_data 0x35 //53 - 0x35 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO3_config 0x36 //54 - 0x36 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO3_data 0x37 //55 - 0x37 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO4_config 0x38 //56 - 0x38 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO4_data 0x39 //57 - 0x39 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO5_config 0x3A //58 - 0x3A R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO5_data 0x3B //59 - 0x3B R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO6_config 0x3C //60 - 0x3C R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO6_data 0x3D //61 - 0x3D R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO7_config 0x3E //62 - 0x3E R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO7_data 0x3F //63 - 0x3F R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO8_config 0x40 //64 - 0x40 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO8_data 0x41 //65 - 0x41 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO9_config 0x41 //66 - 0x42 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO9_data 0x43 //67 - 0x43 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO10_config 0x44 //68 - 0x44 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO10_data 0x45 //69 - 0x45 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO11_config 0x46 //70 - 0x46 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO11_data 0x47 //71 - 0x47 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO12_config 0x48 //72 - 0x48 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO12_data 0x49 //73 - 0x49 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO13_config 0x4A //74 - 0x4A R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO13_data 0x4B //75 - 0x4B R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO14_config 0x4C //76 - 0x4C R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO14_data 0x4D //77 - 0x4D R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO15_config 0x4E //78 - 0x4E R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO15_data 0x4F //79 - 0x4F R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO16_config 0x50 //80 - 0x50 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO16_data 0x51 //81 - 0x51 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO17_config 0x52 //82 - 0x52 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO17_data 0x53 //83 - 0x53 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define GPIO18_config 0x54 //84 - 0x54 R/W GPIO 0 configuration bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// mode (0 -> input, 1 -> output)
#define GPIO18_data 0x55 //85 - 0x55 R/W GPIO 0 data bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current input value (input mode)
// output value (output mode)
#define LED 0x56 //86 - 0x56 R/W Auxiliary LED bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current value
#define SWITCHES 0x57 //87 - 0x57 R Auxiliary Switches bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// current switches value
#define ADC_CHANNEL0_L 0x58
#define ADC_CHANNEL0_H 0x59
#define ADC_CHANNEL1_L 0x5A
#define ADC_CHANNEL1_H 0x5B
#define ADC_CHANNEL2_L 0x5C
#define ADC_CHANNEL2_H 0x5D
#define ADC_CHANNEL3_L 0x5E
#define ADC_CHANNEL3_H 0x5F
#define ADC_CHANNEL4_L 0x60
#define ADC_CHANNEL4_H 0x61
#define ADC_CHANNEL5_L 0x62
#define ADC_CHANNEL5_H 0x63
#define ADC_CHANNEL6_L 0x64
#define ADC_CHANNEL6_H 0x65
#define ADC_CHANNEL7_L 0x66
#define ADC_CHANNEL7_H 0x67
#define ADC_AVG_CHANNEL0_L 0x68
#define ADC_AVG_CHANNEL0_H 0x69
#define ADC_AVG_CHANNEL1_L 0x6A
#define ADC_AVG_CHANNEL1_H 0x6B
#define ADC_AVG_CHANNEL2_L 0x6C
#define ADC_AVG_CHANNEL2_H 0x6D
#define ADC_AVG_CHANNEL3_L 0x6E
#define ADC_AVG_CHANNEL3_H 0x6F
#define ADC_AVG_CHANNEL4_L 0x70
#define ADC_AVG_CHANNEL4_H 0x71
#define ADC_AVG_CHANNEL5_L 0x72
#define ADC_AVG_CHANNEL5_H 0x73
#define ADC_AVG_CHANNEL6_L 0x74
#define ADC_AVG_CHANNEL6_H 0x75
#define ADC_AVG_CHANNEL7_L 0x76
#define ADC_AVG_CHANNEL7_H 0x77
#define GPIO0_config 0x30 // R/W GPIO 0 configuration
#define GPIO0_data 0x31 // R/W GPIO 0 data
#define GPIO1_config 0x32 // R/W GPIO 1 configuration
#define GPIO1_data 0x33 // R/W GPIO 1 data
#define GPIO2_config 0x34 // R/W GPIO 2 configuration
#define GPIO2_data 0x35 // R/W GPIO 2 data
#define GPIO3_config 0x36 // R/W GPIO 3 configuration
#define GPIO3_data 0x37 // R/W GPIO 3 data
#define GPIO4_config 0x38 // R/W GPIO 4 configuration
#define GPIO4_data 0x39 // R/W GPIO 4 data
#define GPIO5_config 0x3A // R/W GPIO 5 configuration
#define GPIO5_data 0x3B // R/W GPIO 5 data
#define GPIO6_config 0x3C // R/W GPIO 6 configuration
#define GPIO6_data 0x3D // R/W GPIO 6 data
#define GPIO7_config 0x3E // R/W GPIO 7 configuration
#define GPIO7_data 0x3F // R/W GPIO 7 data
#define GPIO8_config 0x40 // R/W GPIO 8 configuration
#define GPIO8_data 0x41 // R/W GPIO 8 data
#define GPIO9_config 0x41 // R/W GPIO 9 configuration
#define GPIO9_data 0x43 // R/W GPIO 9 data
#define GPIO10_config 0x44 // R/W GPIO 10 configuration
#define GPIO10_data 0x45 // R/W GPIO 10 data
#define GPIO11_config 0x46 // R/W GPIO 11 configuration
#define GPIO11_data 0x47 // R/W GPIO 11 data
#define GPIO12_config 0x48 // R/W GPIO 12 configuration
#define GPIO12_data 0x49 // R/W GPIO 12 data
#define GPIO13_config 0x4A // R/W GPIO 13 configuration
#define GPIO13_data 0x4B // R/W GPIO 13 data
#define GPIO14_config 0x4C // R/W GPIO 14 configuration
#define GPIO14_data 0x4D // R/W GPIO 14 data
#define GPIO15_config 0x4E // R/W GPIO 15 configuration
#define GPIO15_data 0x4F // R/W GPIO 15 data
#define GPIO16_config 0x50 // R/W GPIO 16 configuration
#define GPIO16_data 0x51 // R/W GPIO 16 data
#define GPIO17_config 0x52 // R/W GPIO 17 configuration
#define GPIO17_data 0x53 // R/W GPIO 17 data
#define GPIO18_config 0x54 // R/W GPIO 18 configuration
#define GPIO18_data 0x55 // R/W GPIO 18 data
#define RAM_SIZE 86
#define RAM_SIZE 120
#endif
include/ports.h
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View file @ 7a562d0d
......@@ -22,6 +22,7 @@ void clear_port(unsigned char port_id);
unsigned char read_port(unsigned char port_id);
void set_led(void);
void clear_led(void);
void toggle_led(void);
unsigned char get_selector_value(void);
#endif
src/adc.c 0 → 100644
+ 115
− 0
View file @ 7a562d0d
#include "adc.h"
#include "mem.h"
#include "ports.h"
// number of channels to convert
#define NUM_CH 8
// number of samples to average
#define MAX_NUM_SAMPLES 16
// private variables
// current channel
volatile unsigned char current_ch;
// list of channels to convert
const unsigned char list_ch[NUM_CH]={0,1,2,3,4,5,6,7};
// channel data
volatile short int adc_data[NUM_CH];
// averaged channel data
volatile short int ch_data[NUM_CH][MAX_NUM_SAMPLES];
volatile unsigned char current_sample;
volatile unsigned char num_samples;
/* private functions */
void adc_set_channel(unsigned char ch_id)
{
ADMUX&=0xF8;
ADMUX|= (ch_id&0x07);
}
void adc_start_conv(void)
{
ADCSRA|=(1<<ADSC);
}
/* interrupt handling functions */
ISR(ADC_vect)
{
unsigned char i;
unsigned short int data;
data=(ADCL | (ADCH<<8));
ram_data[ADC_CHANNEL0_L+current_ch*2]=data%256;
ram_data[ADC_CHANNEL0_H+current_ch*2]=data/256;
ch_data[current_ch][current_sample]=data;
/* compute the average for the current channel */
data=0;
for(i=0;i<num_samples;i++)
data+=ch_data[current_ch][i];
data=data/num_samples;
ram_data[ADC_AVG_CHANNEL0_L+current_ch*2]=data%256;
ram_data[ADC_AVG_CHANNEL0_H+current_ch*2]=data/256;
if(current_ch==NUM_CH-1)// last channel
current_sample=(current_sample+1)%num_samples;
current_ch=(current_ch+1)%NUM_CH;
}
ISR(TIMER2_COMP_vect)
{
// start a new conversion
adc_set_channel(current_ch);
adc_start_conv();
}
/* public functions */
void adc_init(void)
{
// configure the analog inputs
DDRF = 0x00;
PORTF = 0x00;
ADMUX = (1<<REFS0);// use AVCC as reference, Right justified, channel 0
ADCSRA = (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0); // free running mode disabled, interrupts enabled, prescaler to 128
// clear any pending interrupt
ADCSRA|=(1<<ADIF);
// set the initial channel to convert
current_ch=0;
current_sample=0;
num_samples=MAX_NUM_SAMPLES;
ram_data[ADC_NUM_SAMPLES]=MAX_NUM_SAMPLES;
// configure the timer 2 to perform periodic conversions (1 ms period)
TCCR2=(1<<WGM21)|(1<<CS21)|(1<<CS20);// CTC mode, no output, prescaler to 64
TCNT2=0x00;// start from 0
OCR2=249;//1 ms period time;
}
void adc_start(void)
{
// enable the ADC
ADCSRA|=(1<<ADEN);
// enable the timer 2 interrupts
TCNT2=0x00;// start from 0
TIMSK|=(1<<OCIE2);// the timer ISR will start the ADC conversion
ram_data[ADC_CONTROL]|=0x02;
}
void adc_stop(void)
{
// disable the timer 2
TIMSK&=~(1<<OCIE2);
// disable the ADC
ADCSRA&=~(1<<ADEN);
ram_data[ADC_CONTROL]&=0xFD;
}
void adc_set_num_samples(unsigned char num)
{
if(num>MAX_NUM_SAMPLES)
num_samples=MAX_NUM_SAMPLES;
else
num_samples=num;
if(current_sample>num)
current_sample=0;
}
src/dyn_common.c
+ 20
− 0
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......@@ -2,6 +2,7 @@
#include "dyn_slave_se.h"
#include "mem.h"
#include "ports.h"
#include "adc.h"
void do_write(unsigned char address,unsigned char length,unsigned char *data)
{
......@@ -25,6 +26,23 @@ void do_write(unsigned char address,unsigned char length,unsigned char *data)
set_port((i-GPIO0_data)>>1);
}
}
else if(i==LED)
{
if(data[num]==0x00)
clear_led();
else
set_led();
}
else if(i==ADC_CONTROL)
{
if(data[num]==0x00)
adc_stop();
else
adc_start();
}
else if(i==ADC_NUM_SAMPLES)
adc_set_num_samples(data[num]);
num++;
}
}
......@@ -41,6 +59,8 @@ unsigned char do_read(unsigned char address,unsigned char length,unsigned char *
if((i%2)!=0) // data register
read_port((i-GPIO0_config)>>1);
}
else if(i==SWITCHES)
get_selector_value();
}
return ram_read(address,length,data);
}
src/main.c
+ 2
− 1
View file @ 7a562d0d
......@@ -5,6 +5,7 @@
#include "dyn_slave_diff.h"
#include "mem.h"
#include "ports.h"
#include "adc.h"
int16_t main(void)
{
......@@ -12,9 +13,9 @@ int16_t main(void)
dyn_slave_se_init(ram_data[Baud_Rate],ram_data[ID]);
dyn_slave_diff_init(ram_data[Baud_Rate],ram_data[ID]);
init_ports();
adc_init();
sei();
set_led();
while (1)
{
dyn_slave_se_loop();
......
src/ports.c
+ 7
− 12
View file @ 7a562d0d
......@@ -26,6 +26,7 @@ void init_ports(void)
{
//auxiliar LED
DDRE|=0x04;
clear_led();
// general purpose input/output
// all inputs by default
......@@ -42,15 +43,9 @@ void config_port(unsigned char port_id,unsigned char dir)
if(port_id>=0 && port_id<NUM_GPIO)
{
if(dir==OUTPUT)// configure as an output
{
*(gpio_bits[port_id].dir_reg)|=0x01<<gpio_bits[port_id].bit;
ram_data[GPIO0_config+port_id]=OUTPUT;
}
else// configure as an input
{
*(gpio_bits[port_id].dir_reg)&=~(0x01<<gpio_bits[port_id].bit);
ram_data[GPIO0_config+port_id]=INPUT;
}
}
}
......@@ -73,19 +68,13 @@ unsigned char get_port_config(unsigned char port_id)
void set_port(unsigned char port_id)
{
if(port_id>=0 && port_id<NUM_GPIO)
{
*(gpio_bits[port_id].write_reg)|=0x01<<gpio_bits[port_id].bit;
ram_data[GPIO0_data+port_id]=0x01;
}
}
void clear_port(unsigned char port_id)
{
if(port_id>=0 && port_id<NUM_GPIO)
{
*(gpio_bits[port_id].write_reg)&=~(0x01<<gpio_bits[port_id].bit);
ram_data[GPIO0_data+port_id]=0x00;
}
}
unsigned char read_port(unsigned char port_id)
......@@ -119,8 +108,14 @@ void clear_led(void)
PORTE|=0x04;
}
void toggle_led(void)
{
PORTE^=0x04;
}
unsigned char get_selector_value(void)
{
ram_data[SWITCHES]=(PING&0x18)>>3;
return ((PING&0x18)>>3);
}
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