Asuro programmieren ohne Asuro lib

**radbruch** · 27.08.2009, 11:05

Hallo

Am Beispiel eines LCDs kann ich mal zeigen wie ich eine Lib zusammenbastle:
https://www.roboternetz.de/phpBB2/ze...ag.php?t=41805

Hier versuche ich ein Display im 4-Bit-Mode mit 6 Pins am RP6(Mega32) anzuschliesen. Der Code ist ziemlich verwirrend, weil LCD-Ansteuerung und eigentliches Programm vermischt sind. Mit ausgelagerten LCD-Funktionen wird es dann wieder übersichtlicher:
https://www.roboternetz.de/phpBB2/ze...=390124#390124

Hier kann ich nun das LCD ansprechen ohne darüber nachdenken zu müssen wie die Ausgabedaten zum Display geschaufelt werden. Wie für viele andere Aufgaben findet man auch für LCDs vorgefertigte LIBs die man an eigenen Bedürfnisse anpassen kann. So sind z. B. die Libs von Peter Fleury weit verbreitet und quasi ein Standart:
http://homepage.hispeed.ch/peterfleu...ware.html#libs

Allerdings muss man beim Anpassen schon C-geübt sein. Ich mache solche Dinge gerne selber, der Lerneffekt scheint mir dabei größer zu sein.

Ach ja, bei meinem aktuellen asuro-probot-Projekt ändere ich die orginale asuro-Lib um mit "normalen" asuro-Befehlen die Hardware des probot ansprechen zu können:

PWM mit 4 Leitungen:

Code:

// Selbsttest für den asuro-ProBot                                              22.8.09 mic

#include "selftest.h"

uint16_t i;

void Init(void);
void Sleep(unsigned char time36kHz);
void Msleep(int dauer);
void SerWrite(unsigned char *data,unsigned char length);
void PrintInt(int wert);
inline void StatusLED(unsigned char color);
inline void FrontLED(unsigned char status);
void BackLED(unsigned char left, unsigned char right);
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed);
inline void MotorDir(unsigned char left_dir, unsigned char right_dir);

int main(void) {

	Init();
	SerWrite("\n\rasuro-ProBot-Selbsttest\n\r", 27);
	SerWrite("22.8.09 mic \n\r", 14);
	DDRD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6); // D12-15 und FrontLED
	PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6); // high bedeutet LEDs aus
	
	while(1)
	{
		MotorDir(RWD,FWD);
		PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6));
		MotorSpeed(200,200);
		Msleep(2000);
		PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6);
		MotorSpeed(255,255);
		Msleep(1000);
		PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6));
		MotorSpeed(150,150);
		Msleep(2000);
		PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6);
		MotorSpeed(0,0);
		Msleep(100);

		MotorDir(FWD,RWD);
		PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6));
		MotorSpeed(200,200);
		Msleep(2000);
		PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6);
		MotorSpeed(255,255);
		Msleep(1000);
		PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6));
		MotorSpeed(150,150);
		Msleep(2000);
		PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6);
		MotorSpeed(0,0);
		Msleep(100);

		PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6));
		Msleep(500);
		PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6);
		Msleep(500);
		PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6));
		Msleep(500);
		PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD6);
		Msleep(500);
	}
	return(0); // wird nie erreicht!
}

volatile unsigned char count36kHz;
volatile unsigned long timebase;

/* uses timer2 (36kHz for IR communication */
SIGNAL (SIG_OVERFLOW2)
{
	TCNT2 += 0x25;
	count36kHz ++;
	if (!count36kHz) timebase ++;
}

void Init (void)
{
	//-------- seriell interface programmed in boot routine and already running -------
	//  prepare 36kHz for IR - Communication
	TCCR2 = (1 << WGM20) | (1 << WGM21) | (1 << COM20) | (1 << COM21) | (1 << CS20);
	OCR2  = 0x91; // duty cycle for 36kHz
	TIMSK |= (1 << TOIE2); // 36kHz counter for sleep

	// prepare RS232
	UCSRA = 0x00;
	UCSRB = 0x00;
	UCSRC = 0x86; // No Parity | 1 Stop Bit | 8 Data Bit
	UBRRL = 0xCF; // 2400bps @ 8.00MHz

	// I/O Ports
	DDRB = IRTX | LEFT_DIR | PWM | GREEN_LED;
	DDRD = RIGHT_DIR | FRONT_LED | ODOMETRIE_LED | RED_LED;

	// for PWM (8-Bit PWM) on OC1A & OC1B
	TCCR1A = (1 << WGM10) | (1 << COM1A1) | (1 << COM1B1);
	// tmr1 running on MCU clock/8
	TCCR1B = (1 << CS11);

	// A/D Conversion
	ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // clk/64

	MotorDir(FWD,FWD);
	MotorSpeed(0,0);
	sei();
}

void Sleep(unsigned char time36kHz)
{   unsigned char ziel=(time36kHz+count36kHz) & 0x00FF;
	while (count36kHz != ziel);
}

void Msleep(int dauer)
{
	while(dauer--) Sleep(36);
}

void SerWrite(unsigned char *data,unsigned char length)
{
	unsigned char i = 0;
	UCSRB = 0x08; // enable transmitter
	while (length > 0) {
		if (UCSRA & 0x20) { // wait for empty transmit buffer
			UDR = data[i++];
			length --;
		}
	}
	while (!(UCSRA & 0x40));
	for (i = 0; i < 0xFE; i++)
		for(length = 0; length < 0xFE; length++);
}

void PrintInt(int wert)
{  char text[6]="      ";
	itoa(wert,text,10);
	SerWrite(text,5);
}

/* Set motor speed */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed)
{
	OCR1A = left_speed;
	OCR1B = right_speed;
}

/* Set motor direction */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir)
{
	if(left_dir)  PORTB &= ~(1 << PB5); else PORTB |= (1 << PB5);
	if(right_dir) PORTB &= ~(1 << PB4); else PORTB |= (1 << PB4);
}

4 Status-LEDs:

Code:

// Selbsttest für den asuro-ProBot                                              22.8.09 mic

#include "selftest.h"

uint16_t i;

void Init(void);
void Sleep(unsigned char time36kHz);
void Msleep(int dauer);
void SerWrite(unsigned char *data,unsigned char length);
void PrintInt(int wert);
void PrintBin(char wert);
inline void StatusLED(unsigned char color);
inline void FrontLED(unsigned char status);
void BackLED(unsigned char left, unsigned char right);
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed);
inline void MotorDir(unsigned char left_dir, unsigned char right_dir);
void LineData(unsigned int *data);
inline void StatusLED(unsigned char color);
void SetLEDs(unsigned char status);

int main(void) {

	uint8_t i, j;

	Init();
	SerWrite("\n\rasuro-ProBot-Selbsttest-LEDs\n\r",32);
	SerWrite("25.8.09 mic \n\r", 14);
	DDRD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD5) | (1<<PD6); // D12-15 und FrontLED
	PORTD |= (1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD5) | (1<<PD6); // high bedeutet LEDs aus
	//PORTD &= ~((1<<PD2) | (1<<PD3) | (1<<PD4) | (1<<PD5)); // D12-15 an

	Msleep(1000);
	StatusLED(GREEN);
	Msleep(1000);
	StatusLED(RED);
	Msleep(1000);
	StatusLED(YELLOW);
	Msleep(1000);
	StatusLED(OFF);
	Msleep(1000);
	SetLEDs(0b11111); // FrontLED, D14(red), D15, D13, D12(green)
	Msleep(1000);

	while(1)
	{
	   j=5;
		while(j--) for(i=0; i<5; i++)
			{
				SetLEDs(1<<i);
				Msleep(400);
			}
	   j=30;
		while(j--)for(i=0; i<4; i++)
			{
				SetLEDs(1<<i);
				Msleep(150);
			}
	}
	return(0); // wird nie erreicht!
}

volatile unsigned char count36kHz;
volatile unsigned long timebase;

/* uses timer2 (36kHz for IR communication */
SIGNAL (SIG_OVERFLOW2)
{
	TCNT2 += 0x25;
	count36kHz ++;
	if (!count36kHz) timebase ++;
}

void Init (void)
{
	//-------- seriell interface programmed in boot routine and already running -------
	//  prepare 36kHz for IR - Communication
	TCCR2 = (1 << WGM20) | (1 << WGM21) | (1 << COM20) | (1 << COM21) | (1 << CS20);
	OCR2  = 0x91; // duty cycle for 36kHz
	TIMSK |= (1 << TOIE2); // 36kHz counter for sleep

	// prepare RS232
	UCSRA = 0x00;
	UCSRB = 0x00;
	UCSRC = 0x86; // No Parity | 1 Stop Bit | 8 Data Bit
	UBRRL = 0xCF; // 2400bps @ 8.00MHz

	// I/O Ports
	DDRB = IRTX | LEFT_DIR | PWM | GREEN_LED;
	//DDRD = RIGHT_DIR | FRONT_LED | ODOMETRIE_LED | RED_LED;

	// for PWM (8-Bit PWM) on OC1A & OC1B
	TCCR1A = (1 << WGM10) | (1 << COM1A1) | (1 << COM1B1);
	// tmr1 running on MCU clock/8
	TCCR1B = (1 << CS11);

	// A/D Conversion
	ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1); // clk/64

	MotorDir(FWD,FWD);
	MotorSpeed(0,0);
	sei();
}

void Sleep(unsigned char time36kHz)
{   unsigned char ziel=(time36kHz+count36kHz) & 0x00FF;
	while (count36kHz != ziel);
}

void Msleep(int dauer)
{
	while(dauer--) Sleep(36);
}

void SerWrite(unsigned char *data,unsigned char length)
{
	unsigned char i = 0;
	UCSRB = 0x08; // enable transmitter
	while (length > 0) {
		if (UCSRA & 0x20) { // wait for empty transmit buffer
			UDR = data[i++];
			length --;
		}
	}
	while (!(UCSRA & 0x40));
	for (i = 0; i < 0xFE; i++)
		for(length = 0; length < 0xFE; length++);
}

void PrintInt(int wert)
{  char text[6]="      ";
	itoa(wert,text,10);
	SerWrite(text,5);
}
void PrintBin(char wert)
{  char text[8]="        ";
	itoa(wert,text,2);
	SerWrite(text,8);
}

/* Set motor speed */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed)
{
	OCR1A = left_speed;
	OCR1B = right_speed;
}

/* Set motor direction */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir)
{
	if(left_dir)  PORTB &= ~(1 << PB5); else PORTB |= (1 << PB5);
	if(right_dir) PORTB &= ~(1 << PB4); else PORTB |= (1 << PB4);
}
void LineData(unsigned int *data)
{
	ADMUX = (1 << REFS0) | IR_LEFT;	// AVCC reference with external capacitor
	Sleep(10);
	ADCSRA |= (1 << ADSC);			// Start conversion
	while (!(ADCSRA & (1 << ADIF)));	// wait for conversion complete
	ADCSRA |= (1 << ADIF);			// clear ADCIF
	data[0] = ADCL + (ADCH << 8);

	ADMUX = (1 << REFS0) | IR_RIGHT;	// AVCC reference with external capacitor
	Sleep(10);
	ADCSRA |= (1 << ADSC);			// Start conversion
	while (!(ADCSRA & (1 << ADIF)));	// wait for conversion complete
	ADCSRA |= (1 << ADIF);			// clear ADCIF
	data[1] = ADCL + (ADCH << 8);
}
inline void StatusLED(unsigned char color)
{
	if (color == OFF)    {GREEN_LED_OFF; RED_LED_OFF;}
	if (color == GREEN)  {GREEN_LED_ON; RED_LED_OFF;}
	if (color == YELLOW) {GREEN_LED_ON; RED_LED_ON;}
	if (color == RED)    {GREEN_LED_OFF; RED_LED_ON;}
}
void SetLEDs(unsigned char status)
{
	status = ~(status<<2);		// LEDs sind PD2-7 gegen Vcc schaltend!
	PORTD &= status;           // nur gesetzte LEDs einschalten
	PORTD |= status & ~3;		// PD0 und PD1 nicht verändern!
}

Und der aktuelle Header:

Code:

// Selbsttest für den asuro-ProBot                                              22.8.09 mic

#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>

#define  FALSE	0
#define  TRUE	1

#define  OFF    0
#define  ON     1

#define GREEN	1
#define RED		2
#define YELLOW  3

/* --------------- INTERNAL ------------- */
#define GREEN_LED_OFF  PORTD |=  GREEN_LED
#define GREEN_LED_ON PORTD &= ~GREEN_LED
#define RED_LED_OFF    PORTD |=  RED_LED
#define RED_LED_ON   PORTD &= ~RED_LED

#define FWD 0
#define RWD 1
#define BREAK	0x00
#define FREE	(1 << PB4) | (1 << PB5) /* (1 << PD4) | (1 << PD5)*/

#define IRTX        (1 << PB3)
#define GREEN_LED   (1 << PD5)
#define RED_LED     (1 << PD2)

#define PWM 	  (1 << PB1) | (1 << PB2)
#define RIGHT_DIR (1 << PB4) | (1 << PB5)
#define LEFT_DIR  (1 << PD4) | (1 << PD5)

#define BATTERIE  (1 << MUX0) | (1 << MUX2) //ADC5
#define SWITCH    (1 << MUX2)							//ADC4
#define IR_LEFT	  (1 << MUX0) | (1 << MUX1)	//ADC3
#define IR_RIGHT  (1 << MUX1)							//ADC2

#define Speaker (1 << PD5) // speaker an D14
#define Speaker_on PORTD &= ~(1<<PD5)
#define Speaker_off PORTD |= (1<<PD5)

#define FRONT_LED (1 << PD6)
#define FRONT_LED_on PORTD &= ~(1<<PD6)
#define FRONT_LED_off PORTD |= (1<<PD6)

#define ODOMETRIE_LED 	  (1 << PD7)
#define ODOMETRIE_LED_ON  PORTD |= ODOMETRIE_LED
#define ODOMETRIE_LED_OFF PORTD &= ~ODOMETRIE_LED

#define WHEEL_LEFT   (1 << MUX0)			//ADC1
#define WHEEL_RIGHT  0					//ADC0

#define LED12_on PORTD &= ~(1<<PD2)
#define LED13_on PORTD &= ~(1<<PD3)
#define LED14_on PORTD &= ~(1<<PD5) // Achtung Reihenfolge D14/15 getauscht!
#define LED15_on PORTD &= ~(1<<PD4)

#define LED12_off PORTD |= (1<<PD2)
#define LED13_off PORTD |= (1<<PD3)
#define LED14_off PORTD |= (1<<PD5)
#define LED15_off PORTD |= (1<<PD4)

Gruß

mic

**ElchiMtr** · 28.08.2009, 16:33

Danke sehr ich glaube ich habs jetzt verstanden

Thema: Asuro programmieren ohne Asuro lib

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