also dirk, jetzt habe ich mich mal an das abändern deiner servolib für die M32 gemacht.
als erstes war mein ziel, dass mein ir system nach wie vor funktioniert, nach dem ich es in deine isr eingebunden habe.
allerdings habe ich da festgestellt, dass in task_SERVO() dein interrupt aus- und eingeschaltet wird.
darum habe ich das abschalten aus der lib rausgeworfen, damit der Interrupt immer ausgelöst wird und mein ir system dauerhaft arbeitet.
darum habe ich deinen wert der PULS_REPETITION auf 20 abgeändert und das mSleep(3) im demoprogramm weggelassen.
mein IR system arbeitet nun wieder so wie früher.
dann habe ich die werte von LEFT_TOUCH auf 50 und RIGHT_TOUCH auf 116 abgeändert.
anschließend habe ich an PC4 noch einen Servo zum testen angeschlossen.
das ganze schaut nun so aus:
/* ************************************************** **************************
* _______________________
* \| RP6 ROBOT SYSTEM |/
* \_-_-_-_-_-_-_-_-_-_/ >>> RP6 CONTROL
* ----------------------------------------------------------------------------
* ------------------------ [c]2008 - Dirk ------------------------------------
* ************************************************** **************************
* File: RP6ControlServoLib.h
* Version: 1.0
* Target: RP6 CONTROL - ATMEGA32 @16.00MHz
* Author(s): Dirk
* ************************************************** **************************
* Description:
* This is the RP6ControlServoLib header file.
* You have to include this file, if you want to use the library
* RP6ControlServoLib.c in your own projects.
*
* ************************************************** **************************
* THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
* ************************************************** **************************
*/
/************************************************** ***************************/
// Includes:
#include "RP6ControlLib.h" // The RP6 Control Library.
// Always needs to be included!
/************************************************** ***************************/
// Defines:
// Servo constants:
#define SERVO1 0b00000001
#define SERVO2 0b00000010
#define SERVO3 0b00000100
#define SERVO4 0b00001000
#define SERVO5 0b00010000
#define SERVO6 0b00100000
#define SERVO7 0b01000000
// Servo movement limits (depending on servo type):
// Standard servos need an impulse every 20ms (50Hz). This impulse must have
// a length of 1ms (0.7 .. 1ms) to move the servo lever to the left touch
// and a length of 2ms (2 .. 2.3ms) for moving it to the right touch. In the
// middle position the servo needs an impulse length of 1.5ms (1.3 .. 1.6ms).
// If you want to modify the following constants for a certain servo type,
// you must adapt the LEFT_TOUCH constant first (values ~70 .. 100 = ~0.7 ..
// 1ms at 100kHz) by using a servo position value (servoX_position) of zero.
// After that you have two "screws" to adjust the servo movement limits:
// First you may change the RIGHT_TOUCH constant. If you choose a higher
// value than 255, you will use 16-bit values. Higher values mean a longer
// impulse length, but longer impulses than 2.3ms do not make sense.
// Second you may alter the Timer 1 frequency constant (F_TIMER1).
// A higher frequency leads to smaller steps of the servo movement. This of
// course reduces the impulse length and may be compensated again by a higher
// RIGHT_TOUCH constant. As a possible range of Timer 1 frequency values you
// may use 50kHz (20us) .. 105.263kHz (9.5us).
// HINT: If you alter F_TIMER1, you'll have to adapt LEFT_TOUCH and
// RIGHT_TOUCH again as you can see in the following table!
// Steps -> 9.5 10 12.5 15 17.5 20 [us]
// ------------------------------------------------------------------
// LEFT_TOUCH 74 71 57 47 41 35
// RIGHT_TOUCH 169 162 129 107 92 80
// F_TIMER1 105263 100000 80000 66667 57143 50000 [Hz]
#define LEFT_TOUCH 50 // Left servo touch abgeändert
#define RIGHT_TOUCH 116 // Right servo touch abgeändert
#define MIDDLE_POSITION (RIGHT_TOUCH / 2) // Middle position (~1.5ms)
#define PULSE_REPETITION 20 // Pulse repetition freq. (~50Hz)
#define F_TIMER1 72000 // abgeändert auf 72khz
// Servo ports:
#define SERVO1_PULSE_ON (PORTC |= IO_PC2) // PC2
#define SERVO1_PULSE_OFF (PORTC &= ~IO_PC2)
#define SERVO2_PULSE_ON (PORTC |= IO_PC3) // PC3
#define SERVO2_PULSE_OFF (PORTC &= ~IO_PC3)
#define SERVO3_PULSE_ON (PORTC |= IO_PC4) // PC4
#define SERVO3_PULSE_OFF (PORTC &= ~IO_PC4)
#define SERVO4_PULSE_ON (PORTC |= IO_PC5) // PC5
#define SERVO4_PULSE_OFF (PORTC &= ~IO_PC5)
#define SERVO5_PULSE_ON (PORTC |= IO_PC6) // PC6
#define SERVO5_PULSE_OFF (PORTC &= ~IO_PC6)
#define SERVO6_PULSE_ON (PORTC |= IO_PC7) // PC7
#define SERVO6_PULSE_OFF (PORTC &= ~IO_PC7)
#define SERVO7_PULSE_ON (PORTD |= IO_PD5) // PD5
#define SERVO7_PULSE_OFF (PORTD &= ~IO_PD5)
// -----------------------------------------------------------
// Other possible ports for connecting servos to RP6Control:
//#define SERVOx_PULSE_ON (PORTA |= ADC6) // PA6
//#define SERVOx_PULSE_OFF (PORTA &= ~ADC6)
//#define SERVOx_PULSE_ON (PORTA |= ADC7) // PA7
//#define SERVOx_PULSE_OFF (PORTA &= ~ADC7)
// -----------------------------------------------------------
/************************************************** ***************************/
// Variables:
uint16_t servo1_position; // Servo 1 position [0..RIGHT_TOUCH]
uint16_t servo2_position; // Servo 2 position [0..RIGHT_TOUCH]
uint16_t servo3_position; // Servo 3 position [0..RIGHT_TOUCH]
uint16_t servo4_position; // Servo 4 position [0..RIGHT_TOUCH]
uint16_t servo5_position; // Servo 5 position [0..RIGHT_TOUCH]
uint16_t servo6_position; // Servo 6 position [0..RIGHT_TOUCH]
uint16_t servo7_position; // Servo 7 position [0..RIGHT_TOUCH]
/************************************************** ***************************/
// Functions:
void initSERVO(uint8_t servos);
void startSERVO(void);
void stopSERVO(void);
void pulseSERVO(void);
void task_SERVO(void);
/************************************************** ****************************
* Additional info
* ************************************************** **************************
* Changelog:
* - v. 1.0 (initial release) 31.12.2008 by Dirk
*
* ************************************************** **************************
*/
/************************************************** ***************************/
// EOF
/* ************************************************** **************************
* _______________________
* \| RP6 ROBOT SYSTEM |/
* \_-_-_-_-_-_-_-_-_-_/ >>> RP6 CONTROL
* ----------------------------------------------------------------------------
* ------------------------ [c]2008 - Dirk ------------------------------------
* ************************************************** **************************
* File: RP6ControlServoLib.c
* Version: 1.0
* Target: RP6 CONTROL - ATMEGA32 @16.00MHz
* Author(s): Dirk
* ************************************************** **************************
* Description:
* This is my simple RP6 Control Servo Library for up to 8 Servos.
*
* COMMENT: It is a good idea to use a separate power supply for the servos!
*
* Servo connections:
* SERVO1 -> I/O Pin 7 (IO_PC2) SERVO5 -> I/O Pin 4 (IO_PC6)
* SERVO2 -> I/O Pin 5 (IO_PC3) SERVO6 -> I/O Pin 1 (IO_PC7)
* SERVO3 -> I/O Pin 6 (IO_PC4) SERVO7 -> I/O Pin 9 (IO_PD5)
* SERVO4 -> I/O Pin 3 (IO_PC5)
*
* ************************************************** **************************
* ATTENTION: Stopwatch 1 is used for the servo task! Please do
* not use this stopwatch elsewhere in your program!
*
* ************************************************** **************************
* THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
* ************************************************** **************************
*/
/************************************************** ***************************/
// Includes:
#include "RP6ControlServoLib.h"
/************************************************** ***************************/
// Variables:
uint8_t usedservos;
uint8_t servo_on = FALSE;
uint8_t interruptcounter; //abgeändert
uint16_t impulselength1 = 0;
uint16_t impulselength2 = 0;
uint16_t impulselength3 = 0;
uint16_t impulselength4 = 0;
uint16_t impulselength5 = 0;
uint16_t impulselength6 = 0;
uint16_t impulselength7 = 0;
volatile uint16_t intcounter = 0;
/************************************************** ***************************/
// Functions:
/**
* INIT SERVO
*
* Call this once before using the servo function.
* Timer 1 is configured to work in "Clear Timer On
* Compare Match Mode" (CTC). So no PWM is generated!
* The timer runs on a fixed frequency (100kHz).
*
* Input: servos -> Used servos
* Examples:
* - initSERVO(SERVO1 | SERVO2) -> Use only servos 1 and 2
* - initSERVO(SERVO1 | SERVO6) -> Use only servos 1 and 6
* - initSERVO(SERVO1 | SERVO2 | SERVO8) -> Use servos 1, 2 and 8
*
*/
void initSERVO(uint8_t servos)
{
usedservos = servos; // Save used servos
impulselength1 = 0;
impulselength2 = 0;
impulselength3 = 0;
impulselength4 = 0;
impulselength5 = 0;
impulselength6 = 0;
impulselength7 = 0;
if (servos & SERVO1) {DDRC |= IO_PC2; PORTC &= ~IO_PC2;}
if (servos & SERVO2) {DDRC |= IO_PC3; PORTC &= ~IO_PC3;}
if (servos & SERVO3) {DDRC |= IO_PC4; PORTC &= ~IO_PC4;}
if (servos & SERVO4) {DDRC |= IO_PC5; PORTC &= ~IO_PC5;}
if (servos & SERVO5) {DDRC |= IO_PC6; PORTC &= ~IO_PC6;}
if (servos & SERVO6) {DDRC |= IO_PC7; PORTC &= ~IO_PC7;}
if (servos & SERVO7) {DDRD |= IO_PD5; PORTD &= ~IO_PD5;}
// -----------------------------------------------------------
// Other possible ports for connecting servos to RP6Control:
// if (servos & SERVOx) {DDRA |= ADC6; PORTA &= ~ADC6;}
// if (servos & SERVOx) {DDRA |= ADC7; PORTA &= ~ADC7;}
// -----------------------------------------------------------
cli();
// Timer 1: Normal port operation, mode 4 (CTC), clk/8
TCCR1A = (0 << COM1A1)
| (0 << COM1A0)
| (0 << COM1B1)
| (0 << COM1B0)
| (0 << FOC1A)
| (0 << FOC1B)
| (0 << WGM11)
| (0 << WGM10);
TCCR1B = (0 << ICNC1)
| (0 << ICES1)
| (0 << WGM13)
| (1 << WGM12)
| (0 << CS12)
| (1 << CS11)
| (0 << CS10);
OCR1A = ((F_CPU/8/F_TIMER1)-1); // abgeändert auf 26,777
// ------------------------------------------------------
// Possible OCR1A values (F_CPU = 16000000):
// OCR1A = 2000000 / F_TIMER1 - 1 // F_TIMER1 (Steps)
// OCR1A = 18; // 105263Hz (9.5us)
// OCR1A = 19; // 100000Hz (10us)
// OCR1A = 24; // 80000Hz (12.5us)
// OCR1A = 29; // 66667Hz (15us)
// OCR1A = 34; // 57143Hz (17.5us)
// OCR1A = 39; // 50000Hz (20us)
// ------------------------------------------------------
// Enable output compare A match interrupts:
startSERVO();
sei();
startStopwatch1(); // Needed for 20ms pulse repetition
}
/**
* START SERVO
*
* If the servo function was stopped with the
* function stopSERVO() before, it can be
* started again with this function.
*
*/
void startSERVO(void)
{
TIMSK |= (1 << OCIE1A);
servo_on = TRUE;
}
/**
* STOP SERVO
*
* The servo function uses a certain amount of the
* processor's calculating time. If the servos are
* not moving for a while, the Timer 1 interrupt
* can be stopped with this function.
*
*/
void stopSERVO(void)
{
TIMSK &= ~(1 << OCIE1A);
servo_on = FALSE;
}
/**
* PULSE SERVO
*
* This is the servo pulse generation. This function
* must be called every 20ms (pulse repetition).
*
* position = 0 : Left touch
* position = RIGHT_TOUCH : Right touch
* position = MIDDLE_POSITION : Middle position
*
* ! Please make sure in your main program, that the !
* ! servo position values (servoX_position) don't !
* ! exceed RIGHT_TOUCH!!! !
*
* COMMENT: The pulses are only started here!
* The pulses end in the Timer 1 ISR!
*
*/
void pulseSERVO(void)
{
if (servo_on) {
intcounter = RIGHT_TOUCH; // Avoid interference of Timer 1 ISR!
// (Only necessary, if pulseSERVO() is called
// from outside of this library!)
if (usedservos & SERVO1) {
SERVO1_PULSE_ON; impulselength1 = LEFT_TOUCH + servo1_position;}
if (usedservos & SERVO2) {
SERVO2_PULSE_ON; impulselength2 = LEFT_TOUCH + servo2_position;}
if (usedservos & SERVO3) {
SERVO3_PULSE_ON; impulselength3 = LEFT_TOUCH + servo3_position;}
if (usedservos & SERVO4) {
SERVO4_PULSE_ON; impulselength4 = LEFT_TOUCH + servo4_position;}
if (usedservos & SERVO5) {
SERVO5_PULSE_ON; impulselength5 = LEFT_TOUCH + servo5_position;}
if (usedservos & SERVO6) {
SERVO6_PULSE_ON; impulselength6 = LEFT_TOUCH + servo6_position;}
if (usedservos & SERVO7) {
SERVO7_PULSE_ON; impulselength7 = LEFT_TOUCH + servo7_position;}
intcounter = 0;
}
}
/**
* TIMER1 ISR
*
* In this ISR the servo pulses are finished, if the
* correct pulse length of each servo is reached.
*
*/
ISR (TIMER1_COMPA_vect)
{interruptcounter++; //abgeändert
if(interruptcounter <21)
{DDRD |= (1<<PD5); //PD5 als Ausgang
PORTD ^= (1<<PD5);
}
if(interruptcounter > 20 && interruptcounter <41)
{DDRD &=~ (1<<PD5);
}
if(interruptcounter == 41)
{interruptcounter =0;}
intcounter++;
if (intcounter == impulselength1) {SERVO1_PULSE_OFF;}
if (intcounter == impulselength2) {SERVO2_PULSE_OFF;}
if (intcounter == impulselength3) {SERVO3_PULSE_OFF;}
if (intcounter == impulselength4) {SERVO4_PULSE_OFF;}
if (intcounter == impulselength5) {SERVO5_PULSE_OFF;}
if (intcounter == impulselength6) {SERVO6_PULSE_OFF;}
if (intcounter == impulselength7) {SERVO7_PULSE_OFF;}
}
/**
* SERVO TASK
*
* This is the servo task. The task performes the pulse repetition
* with the help of a stopwatch.
* At the next call of the servo task (earliest about 3ms after the
* last servo pulse generation) the compare A match interrupt will
* be disabled to reduce the interrupt load. It will be enabled
* again after the next pulseSERVO() function call.
*
*/
void task_SERVO(void)
{
if (getStopwatch1() > PULSE_REPETITION) { // Pulse every ~20ms
pulseSERVO(); // Servo pulse generation
setStopwatch1(0);
}
}
/************************************************** ****************************
* Additional info
* ************************************************** **************************
* Changelog:
* - v. 1.0 (initial release) 31.12.2008 by Dirk
*
* ************************************************** **************************
*/
/************************************************** ***************************/
// EOF
mein demoprogramm:
// Uncommented Version of RP6ControlServo.c
// ------------------------------------------------------------------------------------------
#include "RP6ControlLib.h"
#include "RP6ControlServoLib.h"
#include "RP6I2CmasterTWI.h"
#include "RP6Control_I2CMasterLib.h"
//Servo 1 => PC2
//Servo 2 => PC3
//Servo 3=> PC4
//Servo 4=> PC5
//Servo 5=> PC6
uint16_t a;
uint8_t b;
void infrarotempfang(void)
{if(b==0)
{
if (!(PINC & (1<<PC3)))
{writeString_P("Infrarotempfang ein\n");
writeStringLCD("a=:");
writeString("a=:");
writeInteger(a,DEC);
writeIntegerLCD(a, DEC);
writeChar('\n');
a++; //infrarot empfangen
}}
}
void RP6_Bewegung(void)
{if(a<50)
{changeDirection(BWD);
moveAtSpeed(50,50); //Roboter fährt
}
if(a==50)
{moveAtSpeed(0,0);
startStopwatch2();
b=1;
}
if (getStopwatch2() >0 && getStopwatch2()<2000)
{moveAtSpeed(0,0);
}
if (getStopwatch2()>2000)
{a=0;
b=0;
stopStopwatch2();
setStopwatch2(0);
writeString_P("stopwatch auf 0\n");}
}
void servoansteuerung(void)
{if (getStopwatch3() <1000)
{servo3_position = LEFT_TOUCH;
writeString_P("LEFT Touch\n");}
if (getStopwatch3() >1000 && getStopwatch3() <2000)
{servo3_position = 30;
writeString_P("servo position 30\n");}
if (getStopwatch3() >2000 && getStopwatch3() <3000)
{servo3_position = RIGHT_TOUCH;
writeString_P("Servo Right touch\n");}
if (getStopwatch3() ==3000)
{stopStopwatch3();
setStopwatch3(0);
writeString_P("stopwatch3 auf 0 zurück\n");}
}
int main(void)
{
initRP6Control();
I2CTWI_initMaster(100);
DDRC &=~ (1<<PC3); //PC3 als Eingang infrarotempfänger
a=0; // a anfangs auf 0 setzen
b=0;
initSERVO(SERVO3);
startStopwatch3();
while(true)
{infrarotempfang();
RP6_Bewegung();
servoansteuerung();
task_SERVO();
}
return 0;
}
irgendwas größeres muss aber immer noch falsch sein, denn seit ich das initSERVO(SERVO3) im Demoprogramm habe geht das programm nach dem einschalten sofort wieder in den standby modus, d.h. es lässt sich gar nicht mehr richtig starten.
vielleicht kannst du mir sagen, was ich noch falsch gemacht habe, mit deiner servolib bist du ja bestens vertraut.
danke auf jeden fall schon mal im voraus.
mfg andi