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Load Diff
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||||
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|
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
c:/program files (x86)/atmel/studio/7.0/toolchain/avr8/avr8-gnu-toolchain/bin/../lib/gcc/avr/5.4.0/../../../../avr/lib/avr51\libm.a(fp_zero.o)
|
||||
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|
||||
c:/program files (x86)/atmel/studio/7.0/toolchain/avr8/avr8-gnu-toolchain/bin/../lib/gcc/avr/5.4.0/avr51\libgcc.a(_exit.o)
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||||
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||||
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||||
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||||
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||||
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|
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|
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||||
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||||
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|
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|
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||||
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|
||||
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||||
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||||
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||||
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|
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
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|
||||
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||||
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||||
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||||
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|
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|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
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||||
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|
||||
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|
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|
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|
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|
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||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
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|
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
|
||||
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|
||||
*(.debug_frame)
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||||
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|
||||
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|
||||
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||||
|
||||
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||||
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|
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|
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|
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|
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|
||||
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|
||||
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||||
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||||
S11301C0DF91CF910895AF92BF92CF92DF92EF92D9
|
||||
S11301D0FF920F931F93CF93DF93CDB7DEB7D82E43
|
||||
S11301E0C92EADB6BEB69F938F930F2EF2E1EF2EBC
|
||||
S11301F0F1E0FF2EF02DFF92EF921F921F921F92BB
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
S11302D05F914F913F912F910F900BBE0F900FBEE6
|
||||
S11302E00F901F901895CCD044DFA0D08AE491E001
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
S11303606F937F938F939F93AF93BF93EF93FF9379
|
||||
S113037014BC80912201D2DF80912201873020F4C5
|
||||
S11303808F5F8093220130C010922201809123015B
|
||||
S113039090912401009799F480912901811104C05E
|
||||
S11303A081E08093290102C01092290180912501E6
|
||||
S11303B090912601909324018093230115C09C0100
|
||||
S11303C02F713327232B39F4E0912A01F0912B016B
|
||||
S11303D0309709F0099580912301909124010197A8
|
||||
S11303E09093240180932301FF91EF91BF91AF91EA
|
||||
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|
||||
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|
||||
S11304102401809323019093260180932501609306
|
||||
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|
||||
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|
||||
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|
||||
S11304504A95F1F700002F5F3F4F28173907B8F38B
|
||||
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||||
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|
||||
S11304808FEF8093640011BA80E380936A0089B788
|
||||
S1130490846089BF1FBC8CE08EBD78940895CF938F
|
||||
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||||
S11304B08883DF91CF91089580911101813041F4B7
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||||
S11304C080E280936A001DBC1CBC10921101089547
|
||||
S11304D080E380936A008CB59DB590932801809346
|
||||
S11304E02701E0912C01F0912D01099581E0809381
|
||||
S11304F01101089590932D0180932C01089580910A
|
||||
S11305002701909128012AEAAC01249FC001259F6C
|
||||
S1130510900D112408950F931F93CF93DF93CDB7BC
|
||||
S1130520DEB72E970FB6F894DEBF0FBECDBF0D8990
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||||
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||||
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|
||||
S11305505F4F698D7A8DCE01019619D04D815E81F0
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||||
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||||
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||||
S11305800FBECDBFDF91CF911F910F9108952F9290
|
||||
S11305903F924F925F926F927F928F929F92AF920F
|
||||
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|
||||
S11305B0DF93CDB7DEB72B970FB6F894DEBF0FBE2F
|
||||
S11305C0CDBF6C017B018A01FC01178216828381F5
|
||||
S11305D081FFBFC1CE0101963C01F6019381F70171
|
||||
S11305E093FD859193FF81917F01882309F4ADC127
|
||||
S11305F0853239F493FD859193FF81917F01853292
|
||||
S113060021F4B60190E0D6D1E8CF912C212C312CE5
|
||||
S1130610FFE1F315D8F08B3279F038F4803279F0B9
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||||
S11306208332A1F4232D20611DC08D3261F080330B
|
||||
S113063069F4232D216016C0832D8260382EE32DAA
|
||||
S1130640E4603E2E2AC0F32DF8601DC037FC2DC097
|
||||
S113065020ED280F2A3040F08E32B9F436FC75C1F3
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||||
S1130660232D2064322E19C036FE06C08AE0989EDF
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||||
S1130670200D1124922E11C0EAE02E9E200D11248B
|
||||
S1130680222EF32DF0623F2E08C08C3621F4832DE8
|
||||
S11306908068382E02C0883641F4F70193FD8591B5
|
||||
S11306A093FF81917F018111B3CF982F9F7D955442
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||||
S11306B0933028F40C5F1F4F9FE399830DC083365A
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||||
S11306C031F0833771F0833509F055C020C0F8014B
|
||||
S11306D0808189830E5F1F4F88248394912C53015A
|
||||
S11306E012C02801F2E04F0E511CF801A080B18025
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||||
S11306F036FE03C0692D70E002C06FEF7FEFC501C5
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||||
S11307004ED14C018201F32DFF773F2E15C02801F5
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||||
S113071022E0420E511CF801A080B18036FE03C0D5
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||||
S1130720692D70E002C06FEF7FEFC5012DD14C0140
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||||
S1130730F32DF0683F2E820133FC19C0822D90E026
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||||
S113074088169906A0F4B60180E290E033D12A9489
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S1130750F5CFF50137FC859137FE81915F01B60134
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S113076090E028D121102A9421E0821A9108811462
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||||
S1130770910479F7E1C0843611F0893639F5F8012E
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||||
S113078037FE07C060817181828193810C5F1F4FA6
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||||
S113079008C060817181072E000C880B990B0E5FD5
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||||
S11307A01F4FF32DFF763F2E97FF09C0909580953C
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||||
S11307B0709561957F4F8F4F9F4FF0683F2E2AE0D1
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||||
S11307C030E0A30133D1882E861844C0853731F434
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||||
S11307D0232D2F7EB22E2AE030E025C0932D997F61
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S11307E0B92E8F36C1F018F4883579F0AEC0803751
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||||
S11307F019F0883721F0A9C0E92FE061BE2EB4FEBC
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S11308000DC0FB2DF460BF2E09C034FE0AC0292F91
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||||
S11308102660B22E06C028E030E005C020E130E0BA
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||||
S113082002C020E132E0F801B7FE07C060817181A7
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||||
S1130830828193810C5F1F4F06C06081718180E0CB
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||||
S113084090E00E5F1F4FA301F1D0882E8618FB2D78
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S1130850FF773F2E36FE0DC0232D2E7FA22E891446
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||||
S113086058F434FE0BC032FC09C0832D8E7EA82EB2
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||||
S113087005C0B82CA32C03C0B82C01C0B92CA4FE0D
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||||
S11308800FC0FE01E80DF11D8081803321F49A2D03
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||||
S1130890997EA92E09C0A2FE06C0B394B39404C0E5
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||||
S11308A08A2D867809F0B394A3FC10C0A0FE06C07C
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||||
S11308B0B21480F4280C922C9B180DC0B21458F476
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||||
S11308C0B60180E290E076D0B394F8CFB21418F475
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||||
S11308D02B1802C0982C212CA4FE0FC0B60180E373
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||||
S11308E090E068D0A2FE16C0A1FC03C088E790E0A7
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||||
S11308F002C088E590E0B6010CC08A2D867851F0DC
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||||
S1130900A1FE02C08BE201C080E2A7FC8DE2B60129
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||||
S113091090E050D0891430F4B60180E390E04AD0DE
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||||
S11309209A94F8CF8A94F301E80DF11D8081B60101
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||||
S113093090E040D08110F6CF222009F44ECEB601CB
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||||
S113094080E290E037D02A94F7CFF6018681978130
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||||
S113095002C08FEF9FEF2B960FB6F894DEBF0FBE49
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||||
S1130960CDBFDF91CF911F910F91FF90EF90DF905A
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||||
S1130970CF90BF90AF909F908F907F906F905F903B
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||||
S11309804F903F902F900895FC0105906150704066
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||||
S11309900110D8F7809590958E0F9F1F0895FC0144
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||||
S11309A06150704001900110D8F7809590958E0F9A
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||||
S11309B09F1F08950F931F93CF93DF93FB01238110
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S11309C021FD03C08FEF9FEF2CC022FF16C046818C
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||||
S11309D05781248135814217530744F4A081B181A2
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||||
S11309E09D012F5F3F4F318320838C932681378174
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S11309F02F5F3F4F3783268314C08B01EC01FB012B
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||||
S1130A803193DEF6CF010895462F4770405D4193C0
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||||
S1130A90B3E00FD0C9F7F6CF462F4F70405D4A330D
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||||
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||||
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||||
S1130AC000976105710508959B01AC010A2E0694F7
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||||
S1130AD05795479537952795BA95C9F7620F731FB0
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||||
S10F0AE0841F951FA01D0895F894FFCFFB
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||||
S1130AEC01080C0406020301090901030206040CA3
|
||||
S1130AFC080125640025733A20252E3366202573BE
|
||||
S1050B0C0000E3
|
||||
S9030000FC
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -15,9 +15,9 @@
|
||||
void _delay_ms(double __ms);
|
||||
|
||||
void lcd_clear() {
|
||||
lcd_write_command (0x01); //Leeg display
|
||||
lcd_write_command (0x01); //Clear display
|
||||
_delay_ms(2);
|
||||
lcd_write_command (0x80); //Cursor terug naar start
|
||||
lcd_write_command (0x80); //Cursor back to start
|
||||
}
|
||||
|
||||
void lcd_strobe_lcd_e(void) {
|
||||
|
||||
@@ -12,18 +12,33 @@
|
||||
#define LCD_E 6
|
||||
#define LCD_RS 4
|
||||
|
||||
void _delay_ms(double __ms);
|
||||
void lcd_strobe_lcd_e(void);
|
||||
void sbi_portc(int index);
|
||||
void cbi_portc(int index);
|
||||
void sbi_porta(int index);
|
||||
void cbi_porta(int index);
|
||||
/************************************************************************/
|
||||
/* inits display in 4 bit mode */
|
||||
/************************************************************************/
|
||||
void init_4bits_mode(void);
|
||||
/************************************************************************/
|
||||
/* write string to the lcd */
|
||||
/************************************************************************/
|
||||
void lcd_write_string(const char *str);
|
||||
/************************************************************************/
|
||||
/* write character to the lcd */
|
||||
/************************************************************************/
|
||||
void lcd_write_character(unsigned char byte);
|
||||
/************************************************************************/
|
||||
/* write command to the lcd */
|
||||
/************************************************************************/
|
||||
void lcd_write_command(unsigned char byte);
|
||||
/************************************************************************/
|
||||
/* clear the lcd */
|
||||
/************************************************************************/
|
||||
void lcd_clear();
|
||||
/************************************************************************/
|
||||
/* write int to the lcd */
|
||||
/************************************************************************/
|
||||
void lcd_write_int(int number);
|
||||
/************************************************************************/
|
||||
/* write double to the lcd */
|
||||
/************************************************************************/
|
||||
void lcd_write_double(char prefix[], double number, char suffix[]);
|
||||
|
||||
|
||||
|
||||
@@ -2,10 +2,16 @@
|
||||
* Eindopdracht.c
|
||||
*
|
||||
* Created: 31-3-2021 09:42:17
|
||||
* Author : Sem
|
||||
* Author : Sem, Guilliam and Stijn.
|
||||
*/
|
||||
|
||||
#define F_CPU 10e6
|
||||
#define ROTAITION_ANGLE 512
|
||||
// rotation with a little overhead so the starting position wil not miss.
|
||||
#define INIT_ROTAITION_ANGLE 600
|
||||
#define MAX_DISTANCE_INIT 20
|
||||
|
||||
#define LCD_SET_DELAY 100
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <util/delay.h>
|
||||
@@ -16,6 +22,7 @@
|
||||
#include "ultrasonic_sensor.h"
|
||||
#include "stepper_driver.h"
|
||||
|
||||
// if true: in init mode, looking for starting point.
|
||||
bool initialising = true;
|
||||
|
||||
ISR(INT2_vect)
|
||||
@@ -24,43 +31,49 @@ ISR(INT2_vect)
|
||||
}
|
||||
|
||||
static void snap_event_trigger(uint8_t rotation){
|
||||
// when X amount of steps are taken, do pulse.
|
||||
ultrasonic_send_pulse();
|
||||
}
|
||||
|
||||
static void ultrasoon_value_set_event(uint16_t value){
|
||||
// if the SODAR is initialising, then look for close start object.
|
||||
if(initialising){
|
||||
if(value > 0 && value < 20){
|
||||
if(value > 0 && value < MAX_DISTANCE_INIT){
|
||||
stepper_rotate_stop();
|
||||
initialising = false;
|
||||
stepper_rotate_angle(512, CounterClockWise);
|
||||
// when found, set the initial rotation.
|
||||
stepper_rotate_angle(ROTAITION_ANGLE, CounterClockWise);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int main(void)
|
||||
{
|
||||
/* Replace with your application code */
|
||||
// initialize ultrasonic sensor driver.
|
||||
ultrasonic_init();
|
||||
// initialize LCD display in 4 bit mode.
|
||||
init_4bits_mode();
|
||||
// initialize stepper driver.
|
||||
init_stepper_driver();
|
||||
// set the event when a pulse must be sent.
|
||||
set_snap_event(&snap_event_trigger);
|
||||
// set a event for when a value has been set from the ultrasonic sensor.
|
||||
set_value_trigger_event(&ultrasoon_value_set_event);
|
||||
|
||||
_delay_ms(10);
|
||||
|
||||
lcd_clear();
|
||||
|
||||
stepper_rotate_angle(600, ClockWise);
|
||||
stepper_rotate_angle(INIT_ROTAITION_ANGLE, ClockWise);
|
||||
while (1)
|
||||
{
|
||||
|
||||
lcd_clear();
|
||||
double res = ultrasonic_get_timer_dist()/1000.0;
|
||||
lcd_write_double("distance: ",res,"cm");
|
||||
// set the ultrasonic value to the lcd.
|
||||
lcd_write_int(ultrasonic_get_timer_dist());
|
||||
|
||||
|
||||
wait_ms(100);
|
||||
wait_ms(LCD_SET_DELAY);
|
||||
}
|
||||
// stop rotating. (not necessary)
|
||||
stepper_rotate_stop();
|
||||
}
|
||||
|
||||
|
||||
@@ -4,8 +4,6 @@
|
||||
* Created: 10-Mar-21 12:21:47 PM
|
||||
* Author: lemms
|
||||
*/
|
||||
#define F_CPU 10e6
|
||||
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#include <util/delay.h>
|
||||
@@ -16,25 +14,19 @@
|
||||
|
||||
#define BIT(x) (1 << (x))
|
||||
|
||||
// states for stepper to rotate counterclockwise
|
||||
uint8_t CCW[8] = {0x09,0x01,0x03,0x02,0x06,0x04,0x0c,0x08};
|
||||
// states for stepper to rotate clockwise
|
||||
uint8_t CW[8] = {0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09};
|
||||
|
||||
/*
|
||||
Een timer met interupt routine.
|
||||
|
||||
in de interump routine een state machine voor de 8 nibbles
|
||||
elke keer dat de interupt routine wordt geroepen wordt de state
|
||||
incremented. hier houd je ook een var bij om de relatieve
|
||||
positie te weten van de stappenmotor.
|
||||
|
||||
Nog een timer voor microstepping.
|
||||
|
||||
Timers:
|
||||
timer voor de speed.
|
||||
stappen van 100ms naar 10ms
|
||||
prescaler = 255
|
||||
*/
|
||||
|
||||
// value for how many steps each turn.
|
||||
uint16_t steps_each_turn = 0;
|
||||
// value for the amount of steps still to do.
|
||||
uint16_t steps_to_do = 0;
|
||||
// which of the stepper states is set currently.
|
||||
uint8_t stepper_state = 0;
|
||||
|
||||
// current rotation wise. (CW or CCW)
|
||||
enum rotation_wise rotation;
|
||||
|
||||
void stepper_rotate_full_rotation_CW();
|
||||
@@ -54,10 +46,8 @@ void set_snap_event(void (*snap_event_p)(uint8_t)){
|
||||
snap_event = snap_event_p;
|
||||
}
|
||||
|
||||
uint16_t steps_each_turn = 0;
|
||||
uint16_t steps_to_do = 0;
|
||||
uint8_t stepper_state = 0;
|
||||
ISR( TIMER2_COMP_vect ){
|
||||
|
||||
TCNT2 = 0;
|
||||
|
||||
set_stepper_state(stepper_state);
|
||||
@@ -65,22 +55,25 @@ ISR( TIMER2_COMP_vect ){
|
||||
if(stepper_state < 7){
|
||||
stepper_state++;
|
||||
} else {
|
||||
//OCR2 = ADCH;
|
||||
|
||||
stepper_state = 0;
|
||||
|
||||
if(steps_to_do == 0){
|
||||
|
||||
// change rotation if the steps todo is 0.
|
||||
if(rotation == ClockWise){
|
||||
rotation = CounterClockWise;
|
||||
} else {
|
||||
rotation = ClockWise;
|
||||
}
|
||||
|
||||
// set the steps to do again.
|
||||
steps_to_do = steps_each_turn;
|
||||
|
||||
} else {
|
||||
|
||||
if(steps_to_do % 32 == 0){
|
||||
// if the stepper step value is at a multiplier of 32 then make snap event.
|
||||
if(steps_to_do % STEPS_EACH_PULSE == 0){
|
||||
|
||||
if(snap_event != NULL)
|
||||
snap_event(steps_to_do);
|
||||
|
||||
@@ -11,15 +11,28 @@
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#define STEPS_EACH_PULSE 32
|
||||
|
||||
enum rotation_wise {
|
||||
ClockWise,
|
||||
CounterClockWise
|
||||
};
|
||||
|
||||
/************************************************************************/
|
||||
/* init ports and timers for stepperdriver. */
|
||||
/************************************************************************/
|
||||
void init_stepper_driver();
|
||||
void stepper_rotate(uint16_t steps);
|
||||
/************************************************************************/
|
||||
/* set the rotationangle and turn on stepper */
|
||||
/************************************************************************/
|
||||
void stepper_rotate_angle(uint16_t steps, enum rotation_wise rot);
|
||||
/************************************************************************/
|
||||
/* stepper stop rotating */
|
||||
/************************************************************************/
|
||||
void stepper_rotate_stop();
|
||||
/************************************************************************/
|
||||
/* set the event for the ultrasonic pulse */
|
||||
/************************************************************************/
|
||||
void set_snap_event(void (*snap_event_p)(uint8_t));
|
||||
|
||||
#endif /* STEPPER_DRIVER_H_ */
|
||||
@@ -6,8 +6,24 @@
|
||||
*/
|
||||
|
||||
|
||||
/************************************************************************/
|
||||
/* init the ultrasonic sensor driver */
|
||||
/************************************************************************/
|
||||
void ultrasonic_init();
|
||||
/************************************************************************/
|
||||
/* send a pulse from the ultrasonic sensor */
|
||||
/************************************************************************/
|
||||
void ultrasonic_send_pulse();
|
||||
/************************************************************************/
|
||||
/* get the value of the timer which equals time taken for sound to */
|
||||
/* turn */
|
||||
/************************************************************************/
|
||||
uint16_t ultrasonic_get_timer_dist();
|
||||
/************************************************************************/
|
||||
/* handle for the interrupt */
|
||||
/************************************************************************/
|
||||
void ultrasonic_handle_interrupt();
|
||||
/************************************************************************/
|
||||
/* set a event for when the ultrasonic has a new value. */
|
||||
/************************************************************************/
|
||||
void set_value_trigger_event(void (*value_set_event_p)(uint16_t));
|
||||
|
||||
Reference in New Issue
Block a user