improved functionality to the carousel.

Ondra

diff --git a/src/eb_carousel/carousel.c b/src/eb_carousel/carousel.c
index b07331588586c8a3beb5cd8c1e36094c90d2a1b6..b832cf57bb3f8b228055a6704c59360fdc86a75e 100644 (file)
--- a/src/eb_carousel/carousel.c
+++ b/src/eb_carousel/carousel.c
@@ -5,8 +5,24 @@
 #include <uart.h>
 #include <engine.h>
 #include <powswitch.h>
+#include <system_def.h>
+#include <servo.h>
 
-#define SPEED 30
+#define        CAN_SPEED       1000000
+#define CAN_ISR                0
+
+#define ENG_ISR                1
+
+#define SERVO_ISR      5
+
+
+
+#define SPEED 50
+#define LOWSPEED 10
+
+static void Init_timer(void);
+void delay(int interval);
+void gotoPos(unsigned int position);
 
 
 void init_perip(void)      // inicializace periferii mikroprocesoru
@@ -16,6 +32,9 @@ void init_perip(void)      // inicializace periferii mikroprocesoru
 
         init_engine_A();
         //init_engine_B();
+       
+       // init timer 0
+       Init_timer();
 
         init_uart0((int)9600 ,UART_BITS_8, UART_STOP_BIT_1, UART_PARIT_OFF, 0 );
 
@@ -29,12 +48,11 @@ void dummy_wait(void)
     while(--i);
 }
 
-
-void main ()
+volatile int delay_done=0 ;
+int main (void)
 {
        
        init_perip();
-       
 
        char text[6]= {'i','n','i','t',0x0D,0x0A};
        int n;
@@ -42,70 +60,121 @@ void main ()
        {
                uart0SendCh(text[n]);
        }
+       unsigned int next_pos=0;
+       while(1)
+       {
+               next_pos= (unsigned int) uart0GetCh();
+               next_pos= next_pos -48; // recived character is in ASCII
+               gotoPos(next_pos);
+       }
+
+       char byeText[5]= {'b','y','e',0x0D,0x0A};
+       for(n=0;n<6;n++)
+       {
+               uart0SendCh(byeText[n]);
+       }
+}
 
 
-        engine_A_dir(ENGINE_DIR_FW); //FW);
-        //engine_B_dir(ENGINE_DIR_FW);
-        engine_A_en(ENGINE_EN_ON);
-        //engine_B_en(ENGINE_EN_ON);
-        engine_A_pwm(SPEED);
-        //engine_B_pwm(70);
+void timer0_isr(void) __attribute__ ((interrupt));
 
-       unsigned char input; // data read from the carusel position sensor
-       unsigned char decode[5]={1,4,5,2,3};
-       unsigned int position= 0; // position of the carusel
-       unsigned int readings=0; //how many times i read the same code
-       unsigned char recChar;
-       while(1)
+int i=0 ; 
+
+void timer0_isr(void)
+{   
+     
+       if (i==0) 
+       {
+               deb_led_off(LEDB);
+               i=1;
+       }
+       else
+       {
+               deb_led_on(LEDB);
+               i=0;
+       }
+
+       delay_done= 1;
+
+       // stop timer 0
+       //T0TCR = 0x00;
+
+       T0IR       |= 0x00000001;               // Clear match0 interrupt
+       VICVectAddr  = 0x00000000;
+}
+
+/**
+ * initializes timer T0 to raise an interrupt and to reset T0counter when it matches T0MatchRegister0
+ * @param  
+ */
+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= 0x0003E8; // interrupt interval each 1s
+       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
+
+}
 
-               deb_led_on(LEDG);
-               deb_led_off(LEDY);
+/**
+ * set the carusel to the postion specified in position 0-3
+ */
+void gotoPos(unsigned int position)
+{
+       engine_A_dir(ENGINE_DIR_FW); //FW);
+       engine_A_en(ENGINE_EN_ON);
+       
+       // at fist rotate fast, than slow down to get exactly to the right positin
+       engine_A_pwm(SPEED);
+       delay(350);
+       engine_A_pwm(LOWSPEED); 
+       
+       unsigned char decode[5]={1,4,5,2,3};
+       unsigned int readings=0; //how many times i read the same code
+       unsigned int input;
+       
+       //if (position>4) position= 4; // reduce error states
        
-               //dummy_wait();
-               //input= ((IOPIN1>>16) & 0x07);
-               //if (input>0)
-               //{
-                       //uart0SendCh(input+48);
-                       //uart0SendCh(';');
-                       //dummy_wait();
-                       
-                       input= ((IOPIN1>>16) & 0x07);
-                       if (input==decode[position])
+       int not_done= 1;
+       while(not_done)
+       {
+               input= ((IOPIN1>>16) & 0x07);
+               if (input==decode[position])
+               {
+                       readings= readings +1;
+                       if (readings>2)
                        {
-                               readings= readings +1;
-                               if (readings>2)
-                               {
-                                       //engine_A_en(ENGINE_EN_OFF);
-                                       engine_A_pwm(0);
-
-                                       uart0SendCh(position+49);
-                                       uart0SendCh(';');
-
-                                       position= position +1;
-                                       if (position>4) position= 0;
-                                       readings= 0;
-                                       
-                                       // wait for key press
-                                       recChar =uart0GetCh();
-                                       //engine_A_en(ENGINE_EN_ON);
-                                       engine_A_pwm(SPEED);
-                                       //dummy_wait();
-                               }
+                               //stop motor
+                               engine_A_pwm(0);
+       
+                               uart0SendCh(position+48);
+                               uart0SendCh(';');
+                               not_done= 0;
                        }
-               //}
-
-               deb_led_off(LEDG);
-               deb_led_on(LEDY);
-
-               //dummy_wait();
+               }
 
        }
+       engine_A_en(ENGINE_EN_OFF);     
 
+}
 
-       char byeText[5]= {'b','y','e',0x0D,0x0A};
-       for(n=0;n<6;n++)
-       {
-               uart0SendCh(byeText[n]);
-       }
+/**
+ * wait time specified in the interaval
+ * int interval - interval in ms
+ */
+void delay(int interval)
+{
+       T0MR0= interval; // interrupt interval each 1s
+       T0TCR = 0x02; //Reset timer 0 and prescaler
+       
+       delay_done= 0; // delay flag will be set by interrupt
+       T0TCR = 0x01; //Run timer 0
+
+       // wait for timer0 interrupt
+       while(delay_done==0){};
 }