bin_PROGRAMS = eb_vytah_09
-eb_vytah_09_SOURCES = main.c
+eb_vytah_09_SOURCES = lift.c serv.c
eb_vytah_09_LIBS = can ebb
--- /dev/null
+////////////////////////////////////////////////////////////////////////////////
+//
+// Eurobot BLINK TEST (with LPC2129)
+//
+// Description
+// -----------
+// This software control mechanisms in eurobot. Use it with lpceurobot board
+// Author : Jarda Sach DCE CVUT
+//
+//
+////////////////////////////////////////////////////////////////////////////////
+
+#include <lpc21xx.h> /* LPC21xx definitions */
+#include <deb_led.h>
+#include <system_def.h>
+#include <can_ids.h>
+#include <periph/can.h>
+#include <string.h>
+#include <deb_led.h>
+#include "serv.h"
+#include "engine.h"
+#include "lift.h"
+
+
+
+
+unsigned int flags=0x00; // flags bit
+error_messages error_state= NO_ERROR; //public variable content error massage for major unit
+state_fcn current_state; //pointer to current state function,( stop, fast_move, slow_move, returnToPosition)
+state_fcn last_state;//pointer to last state function
+can_msg_t msg; // CAN messge
+
+
+void dummy_wait(unsigned int wait)
+{
+ //unsigned int wait = 50000000;
+ while(--wait)
+ ;
+}
+
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+void init_ports(void){
+}
+void init_periphery(void){
+ init_engine_A();// initialization of PWM unit
+ init_engine_B();
+ //can_init_baudrate(CAN_SPEED, CAN_ISR, can_rx);//initialization of CAN bus
+}
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+void init_motors(void){
+ engine_A_en(ENGINE_EN_ON);//enable motor A
+ engine_B_en(ENGINE_EN_ON);// ----//----- B
+ engine_A_dir(ENGINE_DWN);//set direction
+ engine_B_dir(ENGINE_UP);
+ engine_A_pwm(100); // pwm is in percent, range 0~100~200
+ engine_B_pwm(100); // pwm is in percent, range 0~100~200
+}
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+error_messages init_engine(units eng){
+ error_messages err=NO_ERROR;
+ if(tbit(flags,PUCK_LOADED))
+ return(ERROR_PUCK_LOADED);// no initialization is possible if puck is loaded in holder
+ if(!(tbit(flags,DOORS_OPEN)))
+ return(ERROR_DOORS_OPEN);// no initialization is possible if puck is loaded in holder
+ //open the doors
+ //set flag DOORS_OPEN
+ //check puck
+ if(eng==LIFT_ENGINE){
+ move_pusher(ENGINE_DWN,100);// start moving to back bound width max velocity
+ while(tbit(IO1PIN,DOWN_SW))//move pusher until bit is one/ bit is switch input
+ ; //check timeout
+ //go up
+ }
+ else{
+ if(eng==PULL_ENGINE){
+ move_pusher(ENGINE_BW,100);// start moving to back bound width max velocity
+ while(tbit(IO1PIN,BACK_SW))//move pusher until bit is one/ bit is switch input
+ ; //check timeout
+ //clr pulses,go forward
+ }
+ }
+ return(err);
+}
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+void move_lift(unsigned char direct,unsigned char velocity){//how many pulzes
+ engine_A_dir(direct);//set direction for lift
+ engine_A_pwm(velocity); // set velocity, range 0~100~200
+ engine_A_en(ENGINE_EN_ON);//enable motor of lift
+}
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+void move_pusher(unsigned char direct,unsigned char velocity){//how many pulzes
+ engine_B_dir(direct);//set direction for lift
+ engine_B_pwm(velocity); // set velocity, range 0~100~200
+ engine_B_en(ENGINE_EN_ON);//enable motor of pusher
+}
+
+void open_doors(void){
+ set_servo(100);
+}
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+static void Init_timer(void)
+{
+// VICVectAddr0 = (unsigned)timer0_isr; /* Set the ISR vector address vector0 = highest priority */
+// VICVectCntl0 = 0x20|4; /* Enable this vector and assign Timer IRQ to it */
+// VICIntEnable = 0x00000010; /* Enable the interrupt of timer0*/
+ T0MR0= 0x0ffffffff; // interrupt interval when timer0 overload
+ T0PR = CPU_APB_HZ/1000; // Load prescaler for 1 Msec tick
+ T0MCR = 0x07; //resets timer0, stop timer 0 and generates interrupt when timer0 counter match MR0 register
+ T0TCR = 0x02; //Reset timer 0
+ T0TCR = 0x01; // start timer 0
+}
+
+
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+//~~~~~~~~~~~~~~ Possible states definition ~~~~~~~~~~~~~~
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+void stop(events my_event){
+ switch(my_event){
+ case EVENT_ENTRY:
+ //stop booth of motors
+
+ break;
+ case EVENT_DO:
+ //wait for commands
+ break;
+ case EVENT_EXIT:
+
+ break;
+ default:break;
+ }
+}
+
+void move_lift_home(events my_event){
+}
+
+void move_lift_floor1(events my_event){
+}
+
+void move_lift_floor2(events my_event){
+}
+
+void move_lift_floor3(events my_event){
+}
+
+void move_lift_floor4(events my_event){
+}
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+int main(void){
+ unsigned char last_position;
+// ~~~~~ initialization of peryphery ~~~~~
+ init_periphery();
+ init_motors();//initialization of direction and velocity
+ init_servo(SERVO_PRIORITY);
+ if((init_engine(LIFT_ENGINE)!=NO_ERROR)||(init_engine(PULL_ENGINE)!=NO_ERROR))
+ ;//current_state=state_err_init(EVEN_ENTRY);//goto error state and send message to major unit
+
+// ~~~~~ no error >> initialization successfull completed
+ last_position=HOME;
+ current_state=&stop;
+ current_state(EVENT_ENTRY);// go stop state and wait for any commands from major unit
+// ~~~~~ state machine ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+ for(;;){
+ // last_state=current_state; // in every expiry trough loop refresh last state, on start position >> booth states are the same
+
+ if(last_state!=current_state)
+ { // in case of changing state
+ last_state(EVENT_EXIT); // finish the old state
+ current_state(EVENT_ENTRY); // initialize the new state
+ }
+
+
+
+
+ }
+
+
+ while(1){
+ deb_led_change(LEDR);
+ dummy_wait(5000000);
+ deb_led_change(LEDG);
+ dummy_wait(5000000);
+ deb_led_change(LEDB);
+ dummy_wait(5000000);
+ }
+}
+
+
+
--- /dev/null
+#ifndef DEFH
+#define DEFH
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~~~~ definition of interrupt priority ~~~~~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define SERVO_PRIORITY 7 //0 is the biggest priority
+
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~ definition of macros for bit operations ~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define sbit(WORD,BIT) (WORD|=(1<<BIT)) //set bit\r
+ #define cbit(WORD,BIT) (WORD&=~(1<<BIT))//clear bit\r
+ #define tbit(WORD,BIT) (WORD&(1<<BIT)) //test bit\r
+
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~~~~~ definition of moving directions ~~~~~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define ENGINE_BW 1 ///< Backward direction
+ #define ENGINE_FW 0 ///< Forward direction
+ #define ENGINE_UP 1 ///< Up direction
+ #define ENGINE_DWN 0 ///< Down direction
+
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~~~~~ definition of terminal switches ~~~~~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define BACK_SW 16
+ #define FORWARD_SW 17
+ #define DOWN_SW 18
+ #define UP_SW 19
+
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~~~~~~ definition of lift positions ~~~~~~~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define HOME 0
+ #define FLOOR1 1
+ #define FLOOR2 2
+ #define FLOOR3 3
+ #define FLOOR4 4
+
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~~~~ definition of flag register bits ~~~~~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define DOORS_OPEN 0
+ #define PUCK_LOADED 1
+
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ //~~~~~~~~~ definition of CAN bus cominication ~~~~~~~~~~
+ //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ #define CAN_SPEED 1000000
+ #define CAN_ISR 0
+
+
+ typedef enum {//possible errors
+ NO_ERROR,
+ ERROR_LIFT_IRC,
+ ERROR_LIFT_POSITION,
+ ERROR_LIFT_TIMEOUT,
+ ERROR_PUSHER_IRC,
+ ERROR_PUSHER_POSITION,
+ ERROR_PUSHER_TIMEOUT,
+ ERROR_PUCK_LOADED,
+ ERROR_DOORS_OPEN
+ } error_messages;
+
+
+ typedef enum {//mark which unit we want controlled
+ LIFT_ENGINE,
+ PULL_ENGINE
+ } units;
+
+ typedef enum {//mark which unit we want controlled
+ DOWN,
+ UP,
+ BACK,
+ FORWARD
+ } direction;
+
+ typedef enum {// events of each state of state machine
+ EVENT_ENTRY,
+ EVENT_DO,
+ EVENT_EXIT
+ } events;
+
+
+ typedef void (*state_fcn)(events my_event);//pointer to function returning void and one input parametr
+
+//************************************************************************************
+ void move_lift(unsigned char direct,unsigned char velocity);
+ void move_pusher(unsigned char direct,unsigned char velocity);
+ void open_doors(void);
+ error_messages init_engine(units eng);// calibration and move to start position
+ void init_motors(void);//initialization PWM duty, direction
+ void init_ports(void);
+ static void Init_timer(void);
+ unsigned int getTime(void);
+ void can_rx(can_msg_t *msg);//CAN bus receive rutine
+
+//************************************************************************************
+//****************** declaration of possible states **********************************
+//************************************************************************************
+ void stop(events my_event);
+ void move_lift_home(events my_event);
+ void move_lift_floor1(events my_event);
+ void move_lift_floor2(events my_event);
+ void move_lift_floor3(events my_event);
+ void move_lift_floor4(events my_event);
+// void state_move_pusher(events my_event);
+
+#endif
--- /dev/null
+#ifndef DEFH
+#define DEFH
+
+#define sbit(BYTE,BIT) BYTE|(0x01<<BIT)
+#define cbit(BYTE,BIT) BYTE&(0xfe<<BIT)
+//#define tbit(BYTE,BIT)
+
+
+#endif
--- /dev/null
+
+
+#include <lpc21xx.h> // LPC21XX Peripheral Registers
+#include <deb_led.h>
+#include <system_def.h>
+#include "serv.h"
+
+
+#define SERVO2 (1<<10)
+#define SERVO0 (1<<12)
+#define SERVO1 (1<<13)
+
+
+
+#define TIM_EMR_NOTHING 0
+#define TIM_EMR_CLEAR 1
+#define TIM_EMR_SET 2
+#define TIM_EMR_TOGLE 3
+
+#define TIM_EMR_PIN_ON 1
+#define TIM_EMR_PIN_OFF 0
+
+#define TIME20MS ((CPU_APB_HZ) / 50)
+#define SERVOTICK (((CPU_APB_HZ / 50) / 20) / 256)
+
+
+unsigned char servo[3];
+
+
+
+// ---------------- SERVO PART -------------------------------
+
+
+void tc1 (void) __attribute__ ((interrupt));
+
+void tc1 (void) {
+
+ time_ms +=20;
+ T1EMR |= (TIM_EMR_PIN_ON<<0) | (TIM_EMR_PIN_ON<<1) | (TIM_EMR_PIN_ON<<3);
+ T1MR3 = (servo[2] + 256) * SERVOTICK;
+ if (T1IR != 4)
+ {
+ __deb_led_on(LEDR);
+ }
+ T1IR = 4; // Vynulovani priznaku preruseni
+ VICVectAddr = 0; // Potvrzeni o obsluze preruseni
+}
+
+void set_servo(char position)
+{
+ servo[2] = position;
+}
+
+/* Setup the Timer Counter 1 Interrupt */
+void init_servo (unsigned rx_isr_vect)
+{
+
+ IO0DIR|= SERVO2; // enables servo output
+ IO0SET|= SERVO2; // sets to High level
+
+ PINSEL0 &= ~((PINSEL_3 << 24) | (PINSEL_3 << 26));
+ PINSEL0 |= (PINSEL_2 << 24) | (PINSEL_2 << 26);
+ PINSEL1 &= ~(PINSEL_3 << 8);
+ PINSEL1 |= (PINSEL_1 << 8);
+
+ servo[2] = 0xFF;
+
+ T1PR = 0;
+ T1MR2 = TIME20MS;
+ T1MR0 = (servo[2] + 256) * SERVOTICK;
+ T1MCR = (3<<6); // interrupt on MR1
+
+ T1EMR = (TIM_EMR_PIN_ON<<0) | (TIM_EMR_PIN_ON<<1) | (TIM_EMR_PIN_ON<<3) \
+ | (TIM_EMR_CLEAR << 4) | (TIM_EMR_CLEAR << 6) | (TIM_EMR_CLEAR << 10);
+
+
+ T1TCR = 1; // Starts Timer 1
+
+
+ ((uint32_t*)&VICVectAddr0)[rx_isr_vect] = (unsigned long)tc1; // Nastaveni adresy vektotu preruseni
+ ((uint32_t*)&VICVectCntl0)[rx_isr_vect] = 0x20 | 0x5; // vyber casovece pro preruseni
+ VICIntEnable = (1<<5); // Povoli obsluhu preruseni
+}
+
+
+// ---------------- powSitch PART -------------------------------
+
--- /dev/null
+/**
+ * @file servo.h
+ *
+ * @brief FIXME
+ * This file provides simply how-to use eb_ebb library.
+ * From main function is called init_perip function
+ * where is initialized servos, engines, power switch,
+ * CAN,ADC and serial port. After this initialization is shown
+ * how to control each devices. This sample also include simply
+ * sample of sending and receiving CAN message.
+ *
+ */
+
+
+
+#ifndef SERVO_H
+#define SERVO_H
+
+
+
+/** gobal time
+ * @note incremented twenty 20ms, overrun every 1194hours
+ */
+volatile unsigned int time_ms;
+
+/** Initialize servos
+ * @note All three servos - should be fixed FIXME
+ */
+void init_servo(unsigned rx_isr_vect);
+
+
+/** Sets serv position
+ * @return 0
+ * @note VPB = APB - name conflict FIXME
+ * @param servo define servo
+ * @param position new position for servo
+ */
+void set_servo(char position);
+
+#endif
projects / eurobot / public.git / commitdiff