Started following some tutorial on att85 usi. Downloaded example code from make avr book.
This commit is contained in:
Dan
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##########------------------------------------------------------##########
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########## Project-specific Details ##########
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########## Check these every time you start a new project ##########
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##########------------------------------------------------------##########
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MCU = atmega168p
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F_CPU = 8000000UL
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BAUD = 9600UL
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## Also try BAUD = 19200 or 38400 if you're feeling lucky.
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## A directory for common include files and the simple USART library.
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## If you move either the current folder or the Library folder, you'll
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## need to change this path to match.
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LIBDIR = ../../AVR-Programming-Library
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##########------------------------------------------------------##########
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########## Programmer Defaults ##########
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########## Set up once, then forget about it ##########
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########## (Can override. See bottom of file.) ##########
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##########------------------------------------------------------##########
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PROGRAMMER_TYPE = usbtiny
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# extra arguments to avrdude: baud rate, chip type, -F flag, etc.
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PROGRAMMER_ARGS =
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##########------------------------------------------------------##########
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########## Program Locations ##########
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########## Won't need to change if they're in your PATH ##########
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##########------------------------------------------------------##########
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CC = avr-gcc
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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AVRSIZE = avr-size
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AVRDUDE = avrdude
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##########------------------------------------------------------##########
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########## Makefile Magic! ##########
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########## Summary: ##########
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########## We want a .hex file ##########
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########## Compile source files into .elf ##########
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########## Convert .elf file into .hex ##########
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########## You shouldn't need to edit below. ##########
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##########------------------------------------------------------##########
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## The name of your project (without the .c)
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# TARGET = blinkLED
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## Or name it automatically after the enclosing directory
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TARGET = $(lastword $(subst /, ,$(CURDIR)))
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# Object files: will find all .c/.h files in current directory
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# and in LIBDIR. If you have any other (sub-)directories with code,
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# you can add them in to SOURCES below in the wildcard statement.
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SOURCES=$(wildcard *.c $(LIBDIR)/*.c)
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OBJECTS=$(SOURCES:.c=.o)
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HEADERS=$(SOURCES:.c=.h)
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## Compilation options, type man avr-gcc if you're curious.
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CPPFLAGS = -DF_CPU=$(F_CPU) -DBAUD=$(BAUD) -I. -I$(LIBDIR)
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CFLAGS = -Os -g -std=gnu99 -Wall
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## Use short (8-bit) data types
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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## Splits up object files per function
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CFLAGS += -ffunction-sections -fdata-sections
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LDFLAGS = -Wl,-Map,$(TARGET).map
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## Optional, but often ends up with smaller code
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LDFLAGS += -Wl,--gc-sections
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## Relax shrinks code even more, but makes disassembly messy
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## LDFLAGS += -Wl,--relax
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## LDFLAGS += -Wl,-u,vfprintf -lprintf_flt -lm ## for floating-point printf
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## LDFLAGS += -Wl,-u,vfprintf -lprintf_min ## for smaller printf
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TARGET_ARCH = -mmcu=$(MCU)
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## Explicit pattern rules:
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## To make .o files from .c files
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%.o: %.c $(HEADERS) Makefile
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$(CC) $(CFLAGS) $(CPPFLAGS) $(TARGET_ARCH) -c -o $@ $<;
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$(TARGET).elf: $(OBJECTS)
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$(CC) $(LDFLAGS) $(TARGET_ARCH) $^ $(LDLIBS) -o $@
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%.hex: %.elf
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$(OBJCOPY) -j .text -j .data -O ihex $< $@
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%.eeprom: %.elf
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@
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%.lst: %.elf
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$(OBJDUMP) -S $< > $@
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## These targets don't have files named after them
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.PHONY: all disassemble disasm eeprom size clean squeaky_clean flash fuses
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all: $(TARGET).hex
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debug:
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@echo
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@echo "Source files:" $(SOURCES)
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@echo "MCU, F_CPU, BAUD:" $(MCU), $(F_CPU), $(BAUD)
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@echo
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# Optionally create listing file from .elf
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# This creates approximate assembly-language equivalent of your code.
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# Useful for debugging time-sensitive bits,
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# or making sure the compiler does what you want.
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disassemble: $(TARGET).lst
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disasm: disassemble
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# Optionally show how big the resulting program is
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size: $(TARGET).elf
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$(AVRSIZE) -C --mcu=$(MCU) $(TARGET).elf
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clean:
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rm -f $(TARGET).elf $(TARGET).hex $(TARGET).obj \
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$(TARGET).o $(TARGET).d $(TARGET).eep $(TARGET).lst \
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$(TARGET).lss $(TARGET).sym $(TARGET).map $(TARGET)~ \
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$(TARGET).eeprom
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squeaky_clean:
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rm -f *.elf *.hex *.obj *.o *.d *.eep *.lst *.lss *.sym *.map *~ *.eeprom
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##########------------------------------------------------------##########
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########## Programmer-specific details ##########
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########## Flashing code to AVR using avrdude ##########
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##########------------------------------------------------------##########
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flash: $(TARGET).hex
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U flash:w:$<
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## An alias
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program: flash
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flash_eeprom: $(TARGET).eeprom
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U eeprom:w:$<
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avrdude_terminal:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nt
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## If you've got multiple programmers that you use,
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## you can define them here so that it's easy to switch.
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## To invoke, use something like `make flash_arduinoISP`
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flash_usbtiny: PROGRAMMER_TYPE = usbtiny
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flash_usbtiny: PROGRAMMER_ARGS = # USBTiny works with no further arguments
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flash_usbtiny: flash
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flash_usbasp: PROGRAMMER_TYPE = usbasp
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flash_usbasp: PROGRAMMER_ARGS = # USBasp works with no further arguments
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flash_usbasp: flash
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flash_arduinoISP: PROGRAMMER_TYPE = avrisp
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flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P /dev/ttyACM0
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## (for windows) flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P com5
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flash_arduinoISP: flash
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flash_109: PROGRAMMER_TYPE = avr109
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flash_109: PROGRAMMER_ARGS = -b 9600 -P /dev/ttyUSB0
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flash_109: flash
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##########------------------------------------------------------##########
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########## Fuse settings and suitable defaults ##########
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##########------------------------------------------------------##########
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## Mega 48, 88, 168, 328 default values
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LFUSE = 0x62
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HFUSE = 0xdf
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EFUSE = 0x00
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## Generic
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FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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fuses:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) \
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$(PROGRAMMER_ARGS) $(FUSE_STRING)
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show_fuses:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nv
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## Called with no extra definitions, sets to defaults
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set_default_fuses: FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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set_default_fuses: fuses
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## Set the fuse byte for full-speed mode
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## Note: can also be set in firmware for modern chips
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set_fast_fuse: LFUSE = 0xE2
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set_fast_fuse: FUSE_STRING = -U lfuse:w:$(LFUSE):m
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set_fast_fuse: fuses
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## Set the EESAVE fuse byte to preserve EEPROM across flashes
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set_eeprom_save_fuse: HFUSE = 0xD7
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set_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
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set_eeprom_save_fuse: fuses
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## Clear the EESAVE fuse byte
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clear_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
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clear_eeprom_save_fuse: fuses
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@@ -0,0 +1,45 @@
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#include "_servoClockFunctions.h"
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// Realtime-clock handling functions
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void initTimer0_Clock(void) {
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/* Normal mode, just used for the overflow interrupt */
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TCCR0B |= (1 << CS00); /* 8 MHz clock = ~31250 overflows per second */
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TIMSK0 |= (1 << TOIE0); /* timer overflow interrupt enable */
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}
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void everySecond(void) {
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seconds++;
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if (seconds > 59) {
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seconds = 0;
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everyMinute();
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}
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LED_PORT ^= (1 << LED0); /* blink */
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printTime(hours, minutes, seconds); /* serial output */
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/* Turn off servo motor after three seconds into new minute */
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if (seconds == 3) {
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disableServo();
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}
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}
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void everyMinute(void) {
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minutes++;
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if (minutes > 59) {
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minutes = 0;
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everyHour();
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}
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// If during business hours, set servo to new minute
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// Otherwise, don't need to move motor when laser is off
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if ((hours >= START_TIME) && (hours < STOP_TIME)) {
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setServoPosition();
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enableServo();
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LASER_PORT |= (1 << LASER); /* make sure laser is on */
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}
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else { /* make sure laser is off */
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LASER_PORT &= ~(1 << LASER);
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}
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}
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void everyHour(void) {
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hours++;
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if (hours > 23) { /* loop around at end of day */
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hours = 0;
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}
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}
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@@ -0,0 +1,18 @@
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#include "servoSundial.h"
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// Note: Global variables (ticks, seconds, minutes, hours)
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// are declared in servoSundial.h
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// and defined in servoSundial.c
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// Realtime-clock handling functions
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// This sets up the interrupt clock
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void initTimer0_Clock(void);
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// These functions are called periodically
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// to update the global time variables
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// They cascade when needed (second -> minute)
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void everySecond(void);
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void everyMinute(void);
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void everyHour(void);
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@@ -0,0 +1,34 @@
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/* Functions for serial port output formatting and input */
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#include "_servoSerialHelpers.h"
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void printTime(uint8_t hours, uint8_t minutes, uint8_t seconds) {
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printByte(hours);
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transmitByte(':');
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printByte(minutes);
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transmitByte(':');
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printByte(seconds);
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transmitByte('\r');
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transmitByte('\n');
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}
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void pollSerial(void) {
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/* Poll for serial input -- to set the time. */
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char input;
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if (bit_is_set(UCSR0A, RXC0)) {
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input = UDR0;
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if (input == 'S') { /* enter set-time mode */
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printString("Setting time...\r\n");
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printString("Hour: ");
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hours = getNumber();
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printString("\r\nMinutes: ");
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minutes = getNumber();
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printString("\r\nSeconds: ");
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seconds = getNumber();
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printString("\r\n");
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ticks = 0;
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if ((hours >= START_TIME) && (hours < STOP_TIME)) {
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setServoPosition();
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}
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}
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}
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}
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@@ -0,0 +1,8 @@
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/* Functions for serial port output formatting and input */
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#include "servoSundial.h"
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// Prints out the time, nicely formatted
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void printTime(uint8_t hours, uint8_t minutes, uint8_t seconds);
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// Polls for serial input
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// sets the time if receives an "S"
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void pollSerial(void);
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@@ -0,0 +1,86 @@
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import time
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import serial
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def readTime(serialPort):
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'''Reads the time from the AVR over the serial port'''
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serialPort.flushInput()
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character = ""
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while(not character == "\n"): # loop until see end of line
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character = serialPort.read(1)
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## The time string looks something like '011:045:023\r\n'
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timeString = serialPort.read(13)
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hms = timeString.split(":")
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hms = [int(x) for x in hms] # make hour, minute, second numeric
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return(hms)
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def setTime(serialPort, hours, minutes, seconds):
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'''Sends the time over the serial port'''
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serialPort.flushOutput()
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serialPort.write("S")
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time.sleep(0.1) # delay while AVR sends
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serialPort.write(str(hours) + "\r")
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time.sleep(0.2) # delay while AVR sends
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serialPort.write(str(minutes) + "\r")
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time.sleep(0.2) # delay while AVR sends
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serialPort.write(str(seconds) + "\r")
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def setTimeNow(serialPort):
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'''Sets the AVR clock to the current time'''
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hours, minutes, seconds = time.localtime()[3:6]
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setTime(serialPort, hours, minutes, seconds)
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return(time.time())
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def calculateTimeDelay(serialPort):
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'''Gets AVR time and subtracts off actual (computer) time'''
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avrHMS = readTime(serialPort)
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hms = time.localtime()[3:6]
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hmsDifference = [x - y for x,y in zip(avrHMS, hms)]
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out = "AVR is fast by: {x[0]} hours, {x[1]} minutes, and {x[2]} seconds"
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print out.format(x=hmsDifference)
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return(hmsDifference)
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def calculateTimeDrift(serialPort, startTime):
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'''Calculates the ratio to multiply OVERFLOWS_PER_SECOND
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given a start time and current error'''
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h, m, s = calculateTimeDelay(serialPort)
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driftSeconds = 60*60*h + 60*m + s
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elapsed = time.time() - startTime
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print "After {:.0f} seconds, ".format(elapsed)
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return (driftSeconds / elapsed + 1)
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if __name__ == "__main__":
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## Set time automatically, recording start time,
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## then periodically calculate multiplication factor
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OVERFLOWS_PER_SECOND = 31250 # set this to equal the value in your code
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SLEEP_TIME = 10
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ratioLog = []
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s = serial.Serial("/dev/ttyUSB0", 9600, timeout=5)
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print "Setting time to current time...."
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ratio = 0
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while not ratio == 1: # make sure starting time is right on
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startTime = setTimeNow(s)
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ratio = calculateTimeDrift(s, startTime)
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## Note: you can either leave this running or
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## you can re-run calculateTimeDrift() at any time in the future,
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## as long as you don't overwrite the original startTime
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while(True):
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ratio = calculateTimeDrift(s, startTime)
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ratioLog.append([time.time()-startTime, ratio])
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newOverflow = int(OVERFLOWS_PER_SECOND * ratio)
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print "OVERFLOWS_PER_SECOND should be {}\n\n".format(newOverflow)
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time.sleep(SLEEP_TIME)
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## As you leave this routine running, you should see it bounce
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## around a lot in the beginning and then settle down after
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## running a few hours. Ironically, it'll converge to a good
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## number faster if it's initially very out of sync. (If it
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## drifts faster, you can figure out the drift rate sooner.)
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## Leave it running for 24 hours and you'll get one-second-per-day
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## accuracy.
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@@ -0,0 +1,6 @@
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import serial
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import calibrateTime
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s = serial.Serial("/dev/ttyUSB0", 9600, timeout=5)
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calibrateTime.setTimeNow(s)
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s.close()
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@@ -0,0 +1,81 @@
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/* Quasi-realtime-clock with servo sundial. */
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// ------- Includes -------- //
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#include "servoSundial.h"
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#include "_servoSerialHelpers.h"
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#include "_servoClockFunctions.h"
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// -------- Global Variables --------- //
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volatile uint16_t ticks;
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volatile uint8_t hours = 15; /* arbitrary default time */
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volatile uint8_t minutes = 42;
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volatile uint8_t seconds = 57;
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ISR(TIMER0_OVF_vect) {
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/* This is going off very frequently, so we should make it speedy */
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ticks++;
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}
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// -------- Functions --------- //
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// Servo setup and utility functions
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void initTimer1_Servo(void) {
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/* Set up Timer1 (16bit) to give a pulse every 20ms */
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TCCR1A |= (1 << WGM11); /* Using Fast PWM mode */
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TCCR1B |= (1 << WGM12); /* counter max in ICR1 */
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TCCR1B |= (1 << WGM13);
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TCCR1B |= (1 << CS11); /* /8 prescaling -- microsecond steps */
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TCCR1A |= (1 << COM1A1); /* set output on PB1 / OC1A for servo */
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ICR1 = 20000; /* TOP value = 20ms */
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}
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void enableServo(void) {
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while (TCNT1 < PULSE_OVER) {;
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} /* delay until pulse part of cycle done */
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SERVO_DDR |= (1 << SERVO); /* enable servo pulses */
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}
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void disableServo(void) {
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while (TCNT1 < PULSE_OVER) {;
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} /* delay until pulse part of cycle done */
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SERVO_DDR &= ~(1 << SERVO); /* disable servo pulses */
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}
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void setServoPosition(void) {
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uint32_t elapsedMinutes;
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/* using 32 bits b/c elapsedMinutes * PULSE_RANGE will overflow 16 bits */
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||||
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||||
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elapsedMinutes = (hours - START_TIME) * 60 + minutes;
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OCR1A = PULSE_MIN + elapsedMinutes * PULSE_RANGE / (HOURS_RANGE * 60);
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enableServo();
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}
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int main(void) {
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||||
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||||
// -------- Inits --------- //
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||||
clock_prescale_set(clock_div_1); /* CPU clock 8 MHz */
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||||
initUSART();
|
||||
printString("\r\nWelcome to the Servo Sundial.\r\n");
|
||||
printString("Type S to set time.\r\n");
|
||||
|
||||
initTimer0_Clock();
|
||||
initTimer1_Servo();
|
||||
sei(); /* set enable interrupt bit */
|
||||
LED_DDR |= (1 << LED0); /* blinky output */
|
||||
LASER_DDR |= (1 << LASER); /* enable laser output */
|
||||
|
||||
// ------ Event loop ------ //
|
||||
while (1) {
|
||||
|
||||
/* Poll clock routine */
|
||||
if (ticks == OVERFLOWS_PER_SECOND) {
|
||||
ticks = 0;
|
||||
everySecond();
|
||||
}
|
||||
|
||||
pollSerial();
|
||||
|
||||
} /* End event loop */
|
||||
return 0; /* This line is never reached */
|
||||
}
|
||||
@@ -0,0 +1,53 @@
|
||||
/* Quasi-realtime-clock with servo sundial. */
|
||||
|
||||
// ------- Includes -------- //
|
||||
#include <avr/io.h>
|
||||
#include <util/delay.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/power.h>
|
||||
#include "pinDefines.h"
|
||||
#include "USART.h"
|
||||
|
||||
// Global variables that take care of clock
|
||||
extern volatile uint16_t ticks;
|
||||
extern volatile uint8_t hours; /* arbitrary default time */
|
||||
extern volatile uint8_t minutes;
|
||||
extern volatile uint8_t seconds;
|
||||
|
||||
// ------- Defines -------- //
|
||||
#define PULSE_MIN 1000 /* experiment with these values */
|
||||
#define PULSE_MAX 2000 /* to match your own servo */
|
||||
#define PULSE_RANGE (PULSE_MAX - PULSE_MIN)
|
||||
#define PULSE_OVER 3000 /* Must be larger than PULSE_MAX */
|
||||
|
||||
#define START_TIME 10 /* 10 am */
|
||||
#define STOP_TIME 22 /* 10 pm */
|
||||
#define HOURS_RANGE (STOP_TIME - START_TIME - 1)
|
||||
|
||||
#define LASER PB2
|
||||
#define LASER_PORT PORTB
|
||||
#define LASER_DDR DDRB
|
||||
|
||||
#define SERVO PB1
|
||||
#define SERVO_PORT PORTB
|
||||
#define SERVO_DDR DDRB
|
||||
|
||||
#define OVERFLOWS_PER_SECOND 31250 /* nominal, should calibrate */
|
||||
|
||||
|
||||
// Serial input and output functions
|
||||
void pollSerial(void);
|
||||
void printTime(uint8_t hours, uint8_t minutes, uint8_t seconds);
|
||||
|
||||
// Servo setup and utility functions
|
||||
void initTimer1_Servo(void);
|
||||
void enableServo(void);
|
||||
void disableServo(void);
|
||||
void setServoPosition(void);
|
||||
|
||||
// Realtime-clock handling functions
|
||||
// Use the globals ticks, hours, minutes, seconds
|
||||
void initTimer0_Clock(void);
|
||||
void everyHour(void);
|
||||
void everyMinute(void);
|
||||
void everySecond(void);
|
||||
@@ -0,0 +1,17 @@
|
||||
import serial
|
||||
import calibrateTime
|
||||
import time
|
||||
|
||||
s = serial.Serial("/dev/ttyUSB0", 9600, timeout=5)
|
||||
|
||||
for hour in range(11,25):
|
||||
print "Moving to {}.".format(hour)
|
||||
calibrateTime.setTime(s, hour-2, 59, 59)
|
||||
time.sleep(2)
|
||||
for i in range(0, 60, 5):
|
||||
calibrateTime.setTime(s, hour-1, i, 00)
|
||||
time.sleep(0.5)
|
||||
calibrateTime.setTime(s, hour, 0, 0)
|
||||
discardThisInput = raw_input("\tpress return to continue\n")
|
||||
|
||||
s.close()
|
||||
@@ -0,0 +1,196 @@
|
||||
|
||||
##########------------------------------------------------------##########
|
||||
########## Project-specific Details ##########
|
||||
########## Check these every time you start a new project ##########
|
||||
##########------------------------------------------------------##########
|
||||
|
||||
MCU = atmega168p
|
||||
F_CPU = 1000000UL
|
||||
BAUD = 9600UL
|
||||
## Also try BAUD = 19200 or 38400 if you're feeling lucky.
|
||||
|
||||
## A directory for common include files and the simple USART library.
|
||||
## If you move either the current folder or the Library folder, you'll
|
||||
## need to change this path to match.
|
||||
LIBDIR = ../../AVR-Programming-Library
|
||||
|
||||
##########------------------------------------------------------##########
|
||||
########## Programmer Defaults ##########
|
||||
########## Set up once, then forget about it ##########
|
||||
########## (Can override. See bottom of file.) ##########
|
||||
##########------------------------------------------------------##########
|
||||
|
||||
PROGRAMMER_TYPE = usbtiny
|
||||
# extra arguments to avrdude: baud rate, chip type, -F flag, etc.
|
||||
PROGRAMMER_ARGS =
|
||||
|
||||
##########------------------------------------------------------##########
|
||||
########## Program Locations ##########
|
||||
########## Won't need to change if they're in your PATH ##########
|
||||
##########------------------------------------------------------##########
|
||||
|
||||
CC = avr-gcc
|
||||
OBJCOPY = avr-objcopy
|
||||
OBJDUMP = avr-objdump
|
||||
AVRSIZE = avr-size
|
||||
AVRDUDE = avrdude
|
||||
|
||||
##########------------------------------------------------------##########
|
||||
########## Makefile Magic! ##########
|
||||
########## Summary: ##########
|
||||
########## We want a .hex file ##########
|
||||
########## Compile source files into .elf ##########
|
||||
########## Convert .elf file into .hex ##########
|
||||
########## You shouldn't need to edit below. ##########
|
||||
##########------------------------------------------------------##########
|
||||
|
||||
## The name of your project (without the .c)
|
||||
# TARGET = blinkLED
|
||||
## Or name it automatically after the enclosing directory
|
||||
TARGET = $(lastword $(subst /, ,$(CURDIR)))
|
||||
|
||||
# Object files: will find all .c/.h files in current directory
|
||||
# and in LIBDIR. If you have any other (sub-)directories with code,
|
||||
# you can add them in to SOURCES below in the wildcard statement.
|
||||
SOURCES=$(wildcard *.c $(LIBDIR)/*.c)
|
||||
OBJECTS=$(SOURCES:.c=.o)
|
||||
HEADERS=$(SOURCES:.c=.h)
|
||||
|
||||
## Compilation options, type man avr-gcc if you're curious.
|
||||
CPPFLAGS = -DF_CPU=$(F_CPU) -DBAUD=$(BAUD) -I. -I$(LIBDIR)
|
||||
CFLAGS = -Os -g -std=gnu99 -Wall
|
||||
## Use short (8-bit) data types
|
||||
CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
|
||||
## Splits up object files per function
|
||||
CFLAGS += -ffunction-sections -fdata-sections
|
||||
LDFLAGS = -Wl,-Map,$(TARGET).map
|
||||
## Optional, but often ends up with smaller code
|
||||
LDFLAGS += -Wl,--gc-sections
|
||||
## Relax shrinks code even more, but makes disassembly messy
|
||||
## LDFLAGS += -Wl,--relax
|
||||
## LDFLAGS += -Wl,-u,vfprintf -lprintf_flt -lm ## for floating-point printf
|
||||
## LDFLAGS += -Wl,-u,vfprintf -lprintf_min ## for smaller printf
|
||||
TARGET_ARCH = -mmcu=$(MCU)
|
||||
|
||||
## Explicit pattern rules:
|
||||
## To make .o files from .c files
|
||||
%.o: %.c $(HEADERS) Makefile
|
||||
$(CC) $(CFLAGS) $(CPPFLAGS) $(TARGET_ARCH) -c -o $@ $<;
|
||||
|
||||
$(TARGET).elf: $(OBJECTS)
|
||||
$(CC) $(LDFLAGS) $(TARGET_ARCH) $^ $(LDLIBS) -o $@
|
||||
|
||||
%.hex: %.elf
|
||||
$(OBJCOPY) -j .text -j .data -O ihex $< $@
|
||||
|
||||
%.eeprom: %.elf
|
||||
$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@
|
||||
|
||||
%.lst: %.elf
|
||||
$(OBJDUMP) -S $< > $@
|
||||
|
||||
## These targets don't have files named after them
|
||||
.PHONY: all disassemble disasm eeprom size clean squeaky_clean flash fuses
|
||||
|
||||
all: $(TARGET).hex
|
||||
|
||||
debug:
|
||||
@echo
|
||||
@echo "Source files:" $(SOURCES)
|
||||
@echo "MCU, F_CPU, BAUD:" $(MCU), $(F_CPU), $(BAUD)
|
||||
@echo
|
||||
|
||||
# Optionally create listing file from .elf
|
||||
# This creates approximate assembly-language equivalent of your code.
|
||||
# Useful for debugging time-sensitive bits,
|
||||
# or making sure the compiler does what you want.
|
||||
disassemble: $(TARGET).lst
|
||||
|
||||
disasm: disassemble
|
||||
|
||||
# Optionally show how big the resulting program is
|
||||
size: $(TARGET).elf
|
||||
$(AVRSIZE) -C --mcu=$(MCU) $(TARGET).elf
|
||||
|
||||
clean:
|
||||
rm -f $(TARGET).elf $(TARGET).hex $(TARGET).obj \
|
||||
$(TARGET).o $(TARGET).d $(TARGET).eep $(TARGET).lst \
|
||||
$(TARGET).lss $(TARGET).sym $(TARGET).map $(TARGET)~ \
|
||||
$(TARGET).eeprom
|
||||
|
||||
squeaky_clean:
|
||||
rm -f *.elf *.hex *.obj *.o *.d *.eep *.lst *.lss *.sym *.map *~ *.eeprom
|
||||
|
||||
##########------------------------------------------------------##########
|
||||
########## Programmer-specific details ##########
|
||||
########## Flashing code to AVR using avrdude ##########
|
||||
##########------------------------------------------------------##########
|
||||
|
||||
flash: $(TARGET).hex
|
||||
$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U flash:w:$<
|
||||
|
||||
## An alias
|
||||
program: flash
|
||||
|
||||
flash_eeprom: $(TARGET).eeprom
|
||||
$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U eeprom:w:$<
|
||||
|
||||
avrdude_terminal:
|
||||
$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nt
|
||||
|
||||
## If you've got multiple programmers that you use,
|
||||
## you can define them here so that it's easy to switch.
|
||||
## To invoke, use something like `make flash_arduinoISP`
|
||||
flash_usbtiny: PROGRAMMER_TYPE = usbtiny
|
||||
flash_usbtiny: PROGRAMMER_ARGS = # USBTiny works with no further arguments
|
||||
flash_usbtiny: flash
|
||||
|
||||
flash_usbasp: PROGRAMMER_TYPE = usbasp
|
||||
flash_usbasp: PROGRAMMER_ARGS = # USBasp works with no further arguments
|
||||
flash_usbasp: flash
|
||||
|
||||
flash_arduinoISP: PROGRAMMER_TYPE = avrisp
|
||||
flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P /dev/ttyACM0
|
||||
## (for windows) flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P com5
|
||||
flash_arduinoISP: flash
|
||||
|
||||
flash_109: PROGRAMMER_TYPE = avr109
|
||||
flash_109: PROGRAMMER_ARGS = -b 9600 -P /dev/ttyUSB0
|
||||
flash_109: flash
|
||||
|
||||
##########------------------------------------------------------##########
|
||||
########## Fuse settings and suitable defaults ##########
|
||||
##########------------------------------------------------------##########
|
||||
|
||||
## Mega 48, 88, 168, 328 default values
|
||||
LFUSE = 0x62
|
||||
HFUSE = 0xdf
|
||||
EFUSE = 0x00
|
||||
|
||||
## Generic
|
||||
FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
|
||||
|
||||
fuses:
|
||||
$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) \
|
||||
$(PROGRAMMER_ARGS) $(FUSE_STRING)
|
||||
show_fuses:
|
||||
$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nv
|
||||
|
||||
## Called with no extra definitions, sets to defaults
|
||||
set_default_fuses: FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
|
||||
set_default_fuses: fuses
|
||||
|
||||
## Set the fuse byte for full-speed mode
|
||||
## Note: can also be set in firmware for modern chips
|
||||
set_fast_fuse: LFUSE = 0xE2
|
||||
set_fast_fuse: FUSE_STRING = -U lfuse:w:$(LFUSE):m
|
||||
set_fast_fuse: fuses
|
||||
|
||||
## Set the EESAVE fuse byte to preserve EEPROM across flashes
|
||||
set_eeprom_save_fuse: HFUSE = 0xD7
|
||||
set_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
|
||||
set_eeprom_save_fuse: fuses
|
||||
|
||||
## Clear the EESAVE fuse byte
|
||||
clear_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
|
||||
clear_eeprom_save_fuse: fuses
|
||||
@@ -0,0 +1,94 @@
|
||||
/* Quick interactive demo running servo with Timer 1 */
|
||||
|
||||
// ------- Preamble -------- //
|
||||
#include <avr/io.h>
|
||||
#include <util/delay.h>
|
||||
#include <avr/interrupt.h>
|
||||
|
||||
#include "pinDefines.h"
|
||||
#include "USART.h"
|
||||
|
||||
#define PULSE_MIN 1000 /* experiment with these values */
|
||||
#define PULSE_MAX 2000 /* to match your own servo */
|
||||
#define PULSE_MID 1500
|
||||
|
||||
static inline uint16_t getNumber16(void);
|
||||
|
||||
static inline void initTimer1Servo(void) {
|
||||
/* Set up Timer1 (16bit) to give a pulse every 20ms */
|
||||
/* Use Fast PWM mode, counter max in ICR1 */
|
||||
TCCR1A |= (1 << WGM11);
|
||||
TCCR1B |= (1 << WGM12) | (1 << WGM13);
|
||||
TCCR1B |= (1 << CS10); /* /1 prescaling -- counting in microseconds */
|
||||
ICR1 = 20000; /* TOP value = 20ms */
|
||||
TCCR1A |= (1 << COM1A1); /* Direct output on PB1 / OC1A */
|
||||
DDRB |= (1 << PB1); /* set pin for output */
|
||||
}
|
||||
|
||||
static inline void showOff(void) {
|
||||
printString("Center\r\n");
|
||||
OCR1A = PULSE_MID;
|
||||
_delay_ms(1500);
|
||||
printString("Clockwise Max\r\n");
|
||||
OCR1A = PULSE_MIN;
|
||||
_delay_ms(1500);
|
||||
printString("Counterclockwise Max\r\n");
|
||||
OCR1A = PULSE_MAX;
|
||||
_delay_ms(1500);
|
||||
printString("Center\r\n");
|
||||
OCR1A = PULSE_MID;
|
||||
_delay_ms(1500);
|
||||
}
|
||||
|
||||
int main(void) {
|
||||
|
||||
// -------- Inits --------- //
|
||||
uint16_t servoPulseLength;
|
||||
OCR1A = PULSE_MID; /* set it to middle position initially */
|
||||
initTimer1Servo();
|
||||
initUSART();
|
||||
printString("\r\nWelcome to the Servo Demo\r\n");
|
||||
showOff();
|
||||
|
||||
// ------ Event loop ------ //
|
||||
while (1) {
|
||||
|
||||
printString("\r\nEnter a four-digit pulse length:\r\n");
|
||||
servoPulseLength = getNumber16();
|
||||
|
||||
printString("On my way....\r\n");
|
||||
OCR1A = servoPulseLength;
|
||||
DDRB |= (1 << PB1); /* re-enable output pin */
|
||||
|
||||
_delay_ms(1000);
|
||||
printString("Releasing...\r\n");
|
||||
while (TCNT1 < 3000) {;
|
||||
} /* delay until pulse part of cycle done */
|
||||
DDRB &= ~(1 << PB1); /* disable output pin */
|
||||
|
||||
} /* End event loop */
|
||||
return 0; /* This line is never reached */
|
||||
}
|
||||
|
||||
static inline uint16_t getNumber16(void) {
|
||||
// Gets a PWM value from the serial port.
|
||||
// Reads in characters, turns them into a number
|
||||
char thousands = '0';
|
||||
char hundreds = '0';
|
||||
char tens = '0';
|
||||
char ones = '0';
|
||||
char thisChar = '0';
|
||||
|
||||
do {
|
||||
thousands = hundreds; /* shift numbers over */
|
||||
hundreds = tens;
|
||||
tens = ones;
|
||||
ones = thisChar;
|
||||
thisChar = receiveByte(); /* get a new character */
|
||||
transmitByte(thisChar); /* echo */
|
||||
} while (thisChar != '\r');
|
||||
|
||||
transmitByte('\n'); /* newline */
|
||||
return (1000 * (thousands - '0') + 100 * (hundreds - '0') +
|
||||
10 * (tens - '0') + ones - '0');
|
||||
}
|
||||
Reference in New Issue
Block a user