delete old files
parent
76ced85569
commit
1fc729f8ce
@ -1,65 +0,0 @@
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "adc.h"
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#include "buffer.h"
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volatile buffer_t adc_buf[4];
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volatile float adc_avrg[4];
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void initADC()
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{
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ADMUX = 1 << REFS0 | 0 << REFS1; //Select external Vref
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//ADC Status Register A
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ADCSRA = 1 << ADEN //Enable ADC
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| 1 << ADIE //Enable ISR after conversion complete
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//| 1<<ADATE //Freerunning-Mode
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//| 1<<ADLAR //2 results bits are left aligned
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| 1 << ADPS2 //Set clock-prescaler to 128
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| 1 << ADPS1 | 1 << ADPS0;
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ADCSRA |= 1 << ADSC; //Start first Conversion for "warmup"
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}
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void set_ADC_Channel(uint8_t adr)
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{
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if (adr < 11)
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{
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ADMUX &= (0b11110000); //Clear MUX-Address
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ADMUX |= adr; //Set new MUX-Address
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}
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}
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ISR(ADC_vect)
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{
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static uint8_t init[4] = {0,0,0,0};
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static uint8_t current_channel = 0;
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//TODO write non broken adc code
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//Reading 10bit conversion result
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uint16_t ADC_reading = ADCL; //copy the first LSB bits
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ADC_reading |= ADCH << 8; //copy remaing byte
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ADC_reading *= 0.33;
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insert_to_buffer(ADC_reading, &adc_buf[current_channel]);
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//if(adc_buf[current_channel].position == BUFFER_SIZE-1){
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// //if(init[current_channel]){
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// //float tmp = (99*adc_avrg[current_channel]) + get_buffer_mean(&adc_buf[current_channel]);
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// //tmp /= 100;
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// adc_avrg[current_channel] = get_buffer_mean(&adc_buf[current_channel]);
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// //}
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// //else{
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// // adc_avrg[current_channel] = get_buffer_mean(&adc_buf[current_channel]);
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// // init[current_channel]=0;
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// //}
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//}
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current_channel++;
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if(current_channel == 4)
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current_channel = 0;
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set_ADC_Channel(current_channel);
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ADCSRA |= (1 << ADSC); //Start next conversion
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}
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@ -1,12 +0,0 @@
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#ifndef _ADC_H_
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#define _ADC_H_
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#include "buffer.h"
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extern volatile buffer_t adc_buf[4];
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extern volatile float adc_avrg[4];
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void initADC(void);
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#endif//_ADC_H_
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@ -1,42 +0,0 @@
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#include <util/atomic.h>
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#include "buffer.h"
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void insert_to_buffer(uint16_t val, volatile buffer_t* buf){
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ATOMIC_BLOCK(ATOMIC_FORCEON){
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buf->position++;
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if(buf->position == BUFFER_SIZE)
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buf->position = 0;
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buf->values[buf->position] = val;
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}
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}
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float get_buffer_mean(volatile buffer_t* buf){
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///* discard lowest and highest value */
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//uint16_t low=0xFFFF;
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//uint16_t high=0;
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//uint16_t index_l = 0;
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//uint16_t index_h = 0;
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//for(uint16_t i=0; i<BUFFER_SIZE; i++){
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// if(buf->values[i] < low){
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// low=buf->values[i];
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// index_l = i;
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// }
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// if(buf->values[i] > high){
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// high=buf->values[i];
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// index_h = i;
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// }
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//}
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uint32_t sum = 0;
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for(uint16_t i=0; i<BUFFER_SIZE; i++){
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//if(i == index_h || i == index_l)
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// continue;
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sum += buf->values[i];
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}
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uint16_t res = sum/(BUFFER_SIZE/*-2*/);
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return res;
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}
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@ -1,16 +0,0 @@
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#ifndef _BUFFER_H_
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#define _BUFFER_H_
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#include <stdint.h>
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#define BUFFER_SIZE 200
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typedef struct {
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uint16_t values[BUFFER_SIZE];
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uint16_t position;
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} buffer_t;
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void insert_to_buffer(uint16_t val, volatile buffer_t* buf);
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float get_buffer_mean(volatile buffer_t* buf);
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#endif//_BUFFER_H_
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@ -1,26 +1,26 @@
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/*
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* i2c.h
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*
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* Created: 20.01.2018 12:51:11
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* Author: Ulrich
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*/
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#ifndef I2C_H_
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#define I2C_H_
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#include <avr/io.h>
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#include <util/delay.h>
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/*
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* i2c.h
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*
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* Created: 20.01.2018 12:51:11
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* Author: Ulrich
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*/
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#ifndef I2C_H_
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#define I2C_H_
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#include <avr/io.h>
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#include <util/delay.h>
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//I2C
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#define SDA_PIN PC4 //PIN am Atmel
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#define SCL_PIN PC5 //PIN am Atmel
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#define I2C_PORT PORTC //PORT am Atmel
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#define SCL_CLOCK 100000UL
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void i2c_init(void);
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uint8_t i2c_start (uint8_t);
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uint8_t i2c_byte (uint8_t);
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uint8_t i2c_readNak(void);
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void i2c_stop (void);
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#define SCL_CLOCK 100000UL
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void i2c_init(void);
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uint8_t i2c_start (uint8_t);
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uint8_t i2c_byte (uint8_t);
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uint8_t i2c_readNak(void);
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void i2c_stop (void);
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#endif /* I2C_H_ */
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@ -1,178 +0,0 @@
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#ifndef _I2CMASTER_H
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#define _I2CMASTER_H
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/*************************************************************************
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* Title: C include file for the I2C master interface
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* (i2cmaster.S or twimaster.c)
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* Author: Peter Fleury <pfleury@gmx.ch>
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* File: $Id: i2cmaster.h,v 1.12 2015/09/16 09:27:58 peter Exp $
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* Software: AVR-GCC 4.x
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* Target: any AVR device
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* Usage: see Doxygen manual
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**************************************************************************/
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/**
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@file
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@defgroup pfleury_ic2master I2C Master library
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@code #include <i2cmaster.h> @endcode
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@brief I2C (TWI) Master Software Library
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Basic routines for communicating with I2C slave devices. This single master
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implementation is limited to one bus master on the I2C bus.
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This I2c library is implemented as a compact assembler software implementation of the I2C protocol
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which runs on any AVR (i2cmaster.S) and as a TWI hardware interface for all AVR with built-in TWI hardware (twimaster.c).
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Since the API for these two implementations is exactly the same, an application can be linked either against the
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software I2C implementation or the hardware I2C implementation.
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Use 4.7k pull-up resistor on the SDA and SCL pin.
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Adapt the SCL and SDA port and pin definitions and eventually the delay routine in the module
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i2cmaster.S to your target when using the software I2C implementation !
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Adjust the CPU clock frequence F_CPU in twimaster.c or in the Makfile when using the TWI hardware implementaion.
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@note
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The module i2cmaster.S is based on the Atmel Application Note AVR300, corrected and adapted
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to GNU assembler and AVR-GCC C call interface.
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Replaced the incorrect quarter period delays found in AVR300 with
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half period delays.
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@author Peter Fleury pfleury@gmx.ch http://tinyurl.com/peterfleury
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@copyright (C) 2015 Peter Fleury, GNU General Public License Version 3
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@par API Usage Example
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The following code shows typical usage of this library, see example test_i2cmaster.c
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@code
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#include <i2cmaster.h>
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#define Dev24C02 0xA2 // device address of EEPROM 24C02, see datasheet
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int main(void)
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{
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unsigned char ret;
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i2c_init(); // initialize I2C library
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// write 0x75 to EEPROM address 5 (Byte Write)
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i2c_start_wait(Dev24C02+I2C_WRITE); // set device address and write mode
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i2c_write(0x05); // write address = 5
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i2c_write(0x75); // write value 0x75 to EEPROM
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i2c_stop(); // set stop conditon = release bus
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// read previously written value back from EEPROM address 5
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i2c_start_wait(Dev24C02+I2C_WRITE); // set device address and write mode
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i2c_write(0x05); // write address = 5
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i2c_rep_start(Dev24C02+I2C_READ); // set device address and read mode
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ret = i2c_readNak(); // read one byte from EEPROM
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i2c_stop();
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for(;;);
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}
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@endcode
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*/
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/**@{*/
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#if (__GNUC__ * 100 + __GNUC_MINOR__) < 304
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#error "This library requires AVR-GCC 3.4 or later, update to newer AVR-GCC compiler !"
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#endif
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#include <avr/io.h>
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/** defines the data direction (reading from I2C device) in i2c_start(),i2c_rep_start() */
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#define I2C_READ 1
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/** defines the data direction (writing to I2C device) in i2c_start(),i2c_rep_start() */
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#define I2C_WRITE 0
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/**
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@brief initialize the I2C master interace. Need to be called only once
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@return none
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*/
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extern void i2c_init(void);
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/**
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@brief Terminates the data transfer and releases the I2C bus
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@return none
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*/
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extern void i2c_stop(void);
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/**
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@brief Issues a start condition and sends address and transfer direction
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@param addr address and transfer direction of I2C device
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@retval 0 device accessible
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@retval 1 failed to access device
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*/
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extern unsigned char i2c_start(unsigned char addr);
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/**
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@brief Issues a repeated start condition and sends address and transfer direction
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@param addr address and transfer direction of I2C device
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@retval 0 device accessible
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@retval 1 failed to access device
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*/
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extern unsigned char i2c_rep_start(unsigned char addr);
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/**
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@brief Issues a start condition and sends address and transfer direction
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If device is busy, use ack polling to wait until device ready
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@param addr address and transfer direction of I2C device
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@return none
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*/
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extern void i2c_start_wait(unsigned char addr);
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/**
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@brief Send one byte to I2C device
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@param data byte to be transfered
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@retval 0 write successful
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@retval 1 write failed
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*/
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extern unsigned char i2c_write(unsigned char data);
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/**
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@brief read one byte from the I2C device, request more data from device
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@return byte read from I2C device
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*/
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extern unsigned char i2c_readAck(void);
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/**
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@brief read one byte from the I2C device, read is followed by a stop condition
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@return byte read from I2C device
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*/
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extern unsigned char i2c_readNak(void);
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/**
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@brief read one byte from the I2C device
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Implemented as a macro, which calls either @ref i2c_readAck or @ref i2c_readNak
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@param ack 1 send ack, request more data from device<br>
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0 send nak, read is followed by a stop condition
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@return byte read from I2C device
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*/
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extern unsigned char i2c_read(unsigned char ack);
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#define i2c_read(ack) (ack) ? i2c_readAck() : i2c_readNak();
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/**@}*/
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#endif
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@ -1,479 +0,0 @@
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/*
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lcdpcf8574 lib 0x03
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copyright (c) Davide Gironi, 2013
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Released under GPLv3.
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Please refer to LICENSE file for licensing information.
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*/
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include "pcf8574.h"
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#include "lcdpcf8574.h"
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#define lcd_e_delay() __asm__ __volatile__( "rjmp 1f\n 1:" );
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#define lcd_e_toggle() toggle_e()
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#if LCD_LINES==1
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#define LCD_FUNCTION_DEFAULT LCD_FUNCTION_4BIT_1LINE
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#else
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#define LCD_FUNCTION_DEFAULT LCD_FUNCTION_4BIT_2LINES
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#endif
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volatile uint8_t dataport = 0;
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/*
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** function prototypes
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*/
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static void toggle_e(void);
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/*
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** local functions
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*/
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/*************************************************************************
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delay loop for small accurate delays: 16-bit counter, 4 cycles/loop
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*************************************************************************/
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static inline void _delayFourCycles(unsigned int __count)
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{
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if ( __count == 0 )
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__asm__ __volatile__( "rjmp 1f\n 1:" ); // 2 cycles
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else
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__asm__ __volatile__ (
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"1: sbiw %0,1" "\n\t"
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"brne 1b" // 4 cycles/loop
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: "=w" (__count)
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: "0" (__count)
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);
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}
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/*************************************************************************
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delay for a minimum of <us> microseconds
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the number of loops is calculated at compile-time from MCU clock frequency
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*************************************************************************/
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#define delay(us) _delayFourCycles( ( ( 1*(F_CPU/4000) )*us)/1000 )
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/* toggle Enable Pin to initiate write */
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static void toggle_e(void)
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{
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pcf8574_setoutputpinhigh(LCD_PCF8574_DEVICEID, LCD_E_PIN);
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lcd_e_delay();
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pcf8574_setoutputpinlow(LCD_PCF8574_DEVICEID, LCD_E_PIN);
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}
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/*************************************************************************
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Low-level function to write byte to LCD controller
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Input: data byte to write to LCD
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rs 1: write data
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0: write instruction
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Returns: none
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*************************************************************************/
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static void lcd_write(uint8_t data,uint8_t rs)
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{
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if (rs) /* write data (RS=1, RW=0) */
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dataport |= _BV(LCD_RS_PIN);
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else /* write instruction (RS=0, RW=0) */
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dataport &= ~_BV(LCD_RS_PIN);
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dataport &= ~_BV(LCD_RW_PIN);
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pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
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/* output high nibble first */
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dataport &= ~_BV(LCD_DATA3_PIN);
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dataport &= ~_BV(LCD_DATA2_PIN);
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dataport &= ~_BV(LCD_DATA1_PIN);
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dataport &= ~_BV(LCD_DATA0_PIN);
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if(data & 0x80) dataport |= _BV(LCD_DATA3_PIN);
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if(data & 0x40) dataport |= _BV(LCD_DATA2_PIN);
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if(data & 0x20) dataport |= _BV(LCD_DATA1_PIN);
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if(data & 0x10) dataport |= _BV(LCD_DATA0_PIN);
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pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
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lcd_e_toggle();
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/* output low nibble */
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dataport &= ~_BV(LCD_DATA3_PIN);
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dataport &= ~_BV(LCD_DATA2_PIN);
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dataport &= ~_BV(LCD_DATA1_PIN);
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dataport &= ~_BV(LCD_DATA0_PIN);
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if(data & 0x08) dataport |= _BV(LCD_DATA3_PIN);
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if(data & 0x04) dataport |= _BV(LCD_DATA2_PIN);
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if(data & 0x02) dataport |= _BV(LCD_DATA1_PIN);
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if(data & 0x01) dataport |= _BV(LCD_DATA0_PIN);
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pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
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lcd_e_toggle();
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/* all data pins high (inactive) */
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dataport |= _BV(LCD_DATA0_PIN);
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dataport |= _BV(LCD_DATA1_PIN);
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dataport |= _BV(LCD_DATA2_PIN);
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dataport |= _BV(LCD_DATA3_PIN);
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pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
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}
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/*************************************************************************
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Low-level function to read byte from LCD controller
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Input: rs 1: read data
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0: read busy flag / address counter
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Returns: byte read from LCD controller
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*************************************************************************/
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static uint8_t lcd_read(uint8_t rs)
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{
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uint8_t data;
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||||
if (rs) /* write data (RS=1, RW=0) */
|
||||
dataport |= _BV(LCD_RS_PIN);
|
||||
else /* write instruction (RS=0, RW=0) */
|
||||
dataport &= ~_BV(LCD_RS_PIN);
|
||||
dataport |= _BV(LCD_RW_PIN);
|
||||
pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
|
||||
|
||||
/* read high nibble first */
|
||||
pcf8574_setoutputpinhigh(LCD_PCF8574_DEVICEID, LCD_E_PIN);
|
||||
lcd_e_delay();
|
||||
data = 0;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA0_PIN)) data |= 0x10;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA1_PIN)) data |= 0x20;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA2_PIN)) data |= 0x40;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA3_PIN)) data |= 0x80;
|
||||
pcf8574_setoutputpinlow(LCD_PCF8574_DEVICEID, LCD_E_PIN);
|
||||
|
||||
/* Enable 500ns low */
|
||||
lcd_e_delay();
|
||||
|
||||
/* read low nibble */
|
||||
pcf8574_setoutputpinhigh(LCD_PCF8574_DEVICEID, LCD_E_PIN);
|
||||
lcd_e_delay();
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA0_PIN)) data |= 0x01;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA1_PIN)) data |= 0x02;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA2_PIN)) data |= 0x04;
|
||||
if(!pcf8574_getinputpin(LCD_PCF8574_DEVICEID, LCD_DATA3_PIN)) data |= 0x08;
|
||||
pcf8574_setoutputpinlow(LCD_PCF8574_DEVICEID, LCD_E_PIN);
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
loops while lcd is busy, returns address counter
|
||||
*************************************************************************/
|
||||
static uint8_t lcd_waitbusy(void)
|
||||
{
|
||||
register uint8_t c;
|
||||
|
||||
/* wait until busy flag is cleared */
|
||||
while ( (c=lcd_read(0)) & (1<<LCD_BUSY)) {}
|
||||
|
||||
/* the address counter is updated 4us after the busy flag is cleared */
|
||||
delay(2);
|
||||
|
||||
/* now read the address counter */
|
||||
return (lcd_read(0)); // return address counter
|
||||
|
||||
}/* lcd_waitbusy */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Move cursor to the start of next line or to the first line if the cursor
|
||||
is already on the last line.
|
||||
*************************************************************************/
|
||||
static inline void lcd_newline(uint8_t pos)
|
||||
{
|
||||
register uint8_t addressCounter;
|
||||
|
||||
|
||||
#if LCD_LINES==1
|
||||
addressCounter = 0;
|
||||
#endif
|
||||
#if LCD_LINES==2
|
||||
if ( pos < (LCD_START_LINE2) )
|
||||
addressCounter = LCD_START_LINE2;
|
||||
else
|
||||
addressCounter = LCD_START_LINE1;
|
||||
#endif
|
||||
#if LCD_LINES==4
|
||||
if ( pos < LCD_START_LINE3 )
|
||||
addressCounter = LCD_START_LINE2;
|
||||
else if ( (pos >= LCD_START_LINE2) && (pos < LCD_START_LINE4) )
|
||||
addressCounter = LCD_START_LINE3;
|
||||
else if ( (pos >= LCD_START_LINE3) && (pos < LCD_START_LINE2) )
|
||||
addressCounter = LCD_START_LINE4;
|
||||
else
|
||||
addressCounter = LCD_START_LINE1;
|
||||
#endif
|
||||
lcd_command((1<<LCD_DDRAM)+addressCounter);
|
||||
|
||||
}/* lcd_newline */
|
||||
|
||||
|
||||
/*
|
||||
** PUBLIC FUNCTIONS
|
||||
*/
|
||||
|
||||
/*************************************************************************
|
||||
Send LCD controller instruction command
|
||||
Input: instruction to send to LCD controller, see HD44780 data sheet
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_command(uint8_t cmd)
|
||||
{
|
||||
lcd_waitbusy();
|
||||
lcd_write(cmd,0);
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Send data byte to LCD controller
|
||||
Input: data to send to LCD controller, see HD44780 data sheet
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_data(uint8_t data)
|
||||
{
|
||||
lcd_waitbusy();
|
||||
lcd_write(data,1);
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Clear CGRAM
|
||||
*************************************************************************/
|
||||
void lcd_clear_CGRAM() {
|
||||
register uint8_t addressCounter = 0;
|
||||
for (; addressCounter < 64; addressCounter++) {
|
||||
lcd_command((1 << LCD_CGRAM) + addressCounter);
|
||||
lcd_putc(0x00);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Define custom character in CGRAM
|
||||
Inputs: charnum: Character position in CGRAM. You can define maximum 8 chars.
|
||||
values[]: Custom character descriptor pointer.
|
||||
Returns: 0 - The custom character successfully created
|
||||
1 - If the charnum greater than 7. You can define maximum 8 chars.
|
||||
*************************************************************************/
|
||||
uint8_t lcd_create_custom_char(uint8_t charnum, const uint8_t * values) {
|
||||
register uint8_t j = 0;
|
||||
const uint8_t *p = values;
|
||||
|
||||
if (charnum > 7) {
|
||||
return 1;
|
||||
}
|
||||
lcd_command((1 << LCD_CGRAM) + charnum * 8); // set CGRAM address charnum * 8 byte
|
||||
for (; j < 8; j++) {
|
||||
lcd_putc (*(p + j)); // write 8 byte data (one character) to CGRAM
|
||||
}
|
||||
return (0);
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Set cursor to specified position
|
||||
Input: x horizontal position (0: left most position)
|
||||
y vertical position (0: first line)
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_gotoxy(uint8_t x, uint8_t y)
|
||||
{
|
||||
#if LCD_LINES==1
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE1+x);
|
||||
#endif
|
||||
#if LCD_LINES==2
|
||||
if ( y==0 )
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE1+x);
|
||||
else
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE2+x);
|
||||
#endif
|
||||
#if LCD_LINES==4
|
||||
if ( y==0 )
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE1+x);
|
||||
else if ( y==1)
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE2+x);
|
||||
else if ( y==2)
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE3+x);
|
||||
else /* y==3 */
|
||||
lcd_command((1<<LCD_DDRAM)+LCD_START_LINE4+x);
|
||||
#endif
|
||||
|
||||
}/* lcd_gotoxy */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
*************************************************************************/
|
||||
int lcd_getxy(void)
|
||||
{
|
||||
return lcd_waitbusy();
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Clear display and set cursor to home position
|
||||
*************************************************************************/
|
||||
void lcd_clrscr(void)
|
||||
{
|
||||
lcd_command(1<<LCD_CLR);
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Set illumination pin
|
||||
*************************************************************************/
|
||||
void lcd_led(uint8_t onoff)
|
||||
{
|
||||
if(onoff)
|
||||
dataport &= ~_BV(LCD_LED_PIN);
|
||||
else
|
||||
dataport |= _BV(LCD_LED_PIN);
|
||||
pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Set cursor to home position
|
||||
*************************************************************************/
|
||||
void lcd_home(void)
|
||||
{
|
||||
lcd_command(1<<LCD_HOME);
|
||||
}
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Display character at current cursor position
|
||||
Input: character to be displayed
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_putc(char c)
|
||||
{
|
||||
uint8_t pos;
|
||||
|
||||
pos = lcd_waitbusy(); // read busy-flag and address counter
|
||||
if (c=='\n')
|
||||
{
|
||||
lcd_newline(pos);
|
||||
}
|
||||
else
|
||||
{
|
||||
#if LCD_WRAP_LINES==1
|
||||
#if LCD_LINES==1
|
||||
if ( pos == LCD_START_LINE1+LCD_DISP_LENGTH ) {
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE1,0);
|
||||
}
|
||||
#elif LCD_LINES==2
|
||||
if ( pos == LCD_START_LINE1+LCD_DISP_LENGTH ) {
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE2,0);
|
||||
}else if ( pos == LCD_START_LINE2+LCD_DISP_LENGTH ){
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE1,0);
|
||||
}
|
||||
#elif LCD_LINES==4
|
||||
if ( pos == LCD_START_LINE1+LCD_DISP_LENGTH ) {
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE2,0);
|
||||
}else if ( pos == LCD_START_LINE2+LCD_DISP_LENGTH ) {
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE3,0);
|
||||
}else if ( pos == LCD_START_LINE3+LCD_DISP_LENGTH ) {
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE4,0);
|
||||
}else if ( pos == LCD_START_LINE4+LCD_DISP_LENGTH ) {
|
||||
lcd_write((1<<LCD_DDRAM)+LCD_START_LINE1,0);
|
||||
}
|
||||
#endif
|
||||
lcd_waitbusy();
|
||||
#endif
|
||||
lcd_write(c, 1);
|
||||
}
|
||||
|
||||
}/* lcd_putc */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Display string without auto linefeed
|
||||
Input: string to be displayed
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_puts(const char *s)
|
||||
/* print string on lcd (no auto linefeed) */
|
||||
{
|
||||
register char c;
|
||||
|
||||
while ( (c = *s++) ) {
|
||||
lcd_putc(c);
|
||||
}
|
||||
|
||||
}/* lcd_puts */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Display string from program memory without auto linefeed
|
||||
Input: string from program memory be be displayed
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_puts_p(const char *progmem_s)
|
||||
/* print string from program memory on lcd (no auto linefeed) */
|
||||
{
|
||||
register char c;
|
||||
|
||||
while ( (c = pgm_read_byte(progmem_s++)) ) {
|
||||
lcd_putc(c);
|
||||
}
|
||||
|
||||
}/* lcd_puts_p */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Initialize display and select type of cursor
|
||||
Input: dispAttr LCD_DISP_OFF display off
|
||||
LCD_DISP_ON display on, cursor off
|
||||
LCD_DISP_ON_CURSOR display on, cursor on
|
||||
LCD_DISP_CURSOR_BLINK display on, cursor on flashing
|
||||
Returns: none
|
||||
*************************************************************************/
|
||||
void lcd_init(uint8_t dispAttr)
|
||||
{
|
||||
#if LCD_PCF8574_INIT == 1
|
||||
//init pcf8574
|
||||
pcf8574_init();
|
||||
#endif
|
||||
|
||||
dataport = 0;
|
||||
pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
|
||||
|
||||
delay(16000); /* wait 16ms or more after power-on */
|
||||
|
||||
/* initial write to lcd is 8bit */
|
||||
dataport |= _BV(LCD_DATA1_PIN); // _BV(LCD_FUNCTION)>>4;
|
||||
dataport |= _BV(LCD_DATA0_PIN); // _BV(LCD_FUNCTION_8BIT)>>4;
|
||||
pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
|
||||
|
||||
lcd_e_toggle();
|
||||
delay(4992); /* delay, busy flag can't be checked here */
|
||||
|
||||
/* repeat last command */
|
||||
lcd_e_toggle();
|
||||
delay(64); /* delay, busy flag can't be checked here */
|
||||
|
||||
/* repeat last command a third time */
|
||||
lcd_e_toggle();
|
||||
delay(64); /* delay, busy flag can't be checked here */
|
||||
|
||||
/* now configure for 4bit mode */
|
||||
dataport &= ~_BV(LCD_DATA0_PIN);
|
||||
pcf8574_setoutput(LCD_PCF8574_DEVICEID, dataport);
|
||||
lcd_e_toggle();
|
||||
delay(64); /* some displays need this additional delay */
|
||||
|
||||
/* from now the LCD only accepts 4 bit I/O, we can use lcd_command() */
|
||||
|
||||
lcd_command(LCD_FUNCTION_DEFAULT); /* function set: display lines */
|
||||
|
||||
lcd_command(LCD_DISP_OFF); /* display off */
|
||||
lcd_clrscr(); /* display clear */
|
||||
lcd_command(LCD_MODE_DEFAULT); /* set entry mode */
|
||||
lcd_command(dispAttr); /* display/cursor control */
|
||||
|
||||
}/* lcd_init */
|
||||
@ -1,223 +0,0 @@
|
||||
/*
|
||||
lcdpcf8574 lib 0x03
|
||||
|
||||
copyright (c) Davide Gironi, 2013
|
||||
|
||||
Released under GPLv3.
|
||||
Please refer to LICENSE file for licensing information.
|
||||
|
||||
References:
|
||||
+ based on lcd library by Peter Fleury
|
||||
http://jump.to/fleury
|
||||
+ CGRAM functions by Péter Papp
|
||||
*/
|
||||
|
||||
|
||||
#ifndef LCD_H
|
||||
#define LCD_H
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <avr/pgmspace.h>
|
||||
|
||||
#define LCD_PCF8574_INIT 1 //init pcf8574
|
||||
|
||||
#define LCD_PCF8574_DEVICEID 0 //device id, addr = pcf8574 base addr + LCD_PCF8574_DEVICEID
|
||||
|
||||
|
||||
/**
|
||||
* @name Definitions for Display Size
|
||||
* Change these definitions to adapt setting to your display
|
||||
*/
|
||||
#define LCD_LINES 2 /**< number of visible lines of the display */
|
||||
#define LCD_DISP_LENGTH 16 /**< visibles characters per line of the display */
|
||||
#define LCD_LINE_LENGTH 0x40 /**< internal line length of the display */
|
||||
#define LCD_START_LINE1 0x00 /**< DDRAM address of first char of line 1 */
|
||||
#define LCD_START_LINE2 0x40 /**< DDRAM address of first char of line 2 */
|
||||
#define LCD_START_LINE3 0x14 /**< DDRAM address of first char of line 3 */
|
||||
#define LCD_START_LINE4 0x54 /**< DDRAM address of first char of line 4 */
|
||||
#define LCD_WRAP_LINES 1 /**< 0: no wrap, 1: wrap at end of visibile line */
|
||||
|
||||
|
||||
|
||||
#define LCD_DATA0_PIN 4 /**< pin for 4bit data bit 0 */
|
||||
#define LCD_DATA1_PIN 5 /**< pin for 4bit data bit 1 */
|
||||
#define LCD_DATA2_PIN 6 /**< pin for 4bit data bit 2 */
|
||||
#define LCD_DATA3_PIN 7 /**< pin for 4bit data bit 3 */
|
||||
#define LCD_RS_PIN 0 /**< pin for RS line */
|
||||
#define LCD_RW_PIN 1 /**< pin for RW line */
|
||||
#define LCD_E_PIN 2 /**< pin for Enable line */
|
||||
#define LCD_LED_PIN 3 /**< pin for Led */
|
||||
|
||||
|
||||
/**
|
||||
* @name Definitions for LCD command instructions
|
||||
* The constants define the various LCD controller instructions which can be passed to the
|
||||
* function lcd_command(), see HD44780 data sheet for a complete description.
|
||||
*/
|
||||
|
||||
/* instruction register bit positions, see HD44780U data sheet */
|
||||
#define LCD_CLR 0 /* DB0: clear display */
|
||||
#define LCD_HOME 1 /* DB1: return to home position */
|
||||
#define LCD_ENTRY_MODE 2 /* DB2: set entry mode */
|
||||
#define LCD_ENTRY_INC 1 /* DB1: 1=increment, 0=decrement */
|
||||
#define LCD_ENTRY_SHIFT 0 /* DB2: 1=display shift on */
|
||||
#define LCD_ON 3 /* DB3: turn lcd/cursor on */
|
||||
#define LCD_ON_DISPLAY 2 /* DB2: turn display on */
|
||||
#define LCD_ON_CURSOR 1 /* DB1: turn cursor on */
|
||||
#define LCD_ON_BLINK 0 /* DB0: blinking cursor ? */
|
||||
#define LCD_MOVE 4 /* DB4: move cursor/display */
|
||||
#define LCD_MOVE_DISP 3 /* DB3: move display (0-> cursor) ? */
|
||||
#define LCD_MOVE_RIGHT 2 /* DB2: move right (0-> left) ? */
|
||||
#define LCD_FUNCTION 5 /* DB5: function set */
|
||||
#define LCD_FUNCTION_8BIT 4 /* DB4: set 8BIT mode (0->4BIT mode) */
|
||||
#define LCD_FUNCTION_2LINES 3 /* DB3: two lines (0->one line) */
|
||||
#define LCD_FUNCTION_10DOTS 2 /* DB2: 5x10 font (0->5x7 font) */
|
||||
#define LCD_CGRAM 6 /* DB6: set CG RAM address */
|
||||
#define LCD_DDRAM 7 /* DB7: set DD RAM address */
|
||||
#define LCD_BUSY 7 /* DB7: LCD is busy */
|
||||
|
||||
/* set entry mode: display shift on/off, dec/inc cursor move direction */
|
||||
#define LCD_ENTRY_DEC 0x04 /* display shift off, dec cursor move dir */
|
||||
#define LCD_ENTRY_DEC_SHIFT 0x05 /* display shift on, dec cursor move dir */
|
||||
#define LCD_ENTRY_INC_ 0x06 /* display shift off, inc cursor move dir */
|
||||
#define LCD_ENTRY_INC_SHIFT 0x07 /* display shift on, inc cursor move dir */
|
||||
|
||||
/* display on/off, cursor on/off, blinking char at cursor position */
|
||||
#define LCD_DISP_OFF 0x08 /* display off */
|
||||
#define LCD_DISP_ON 0x0C /* display on, cursor off */
|
||||
#define LCD_DISP_ON_BLINK 0x0D /* display on, cursor off, blink char */
|
||||
#define LCD_DISP_ON_CURSOR 0x0E /* display on, cursor on */
|
||||
#define LCD_DISP_ON_CURSOR_BLINK 0x0F /* display on, cursor on, blink char */
|
||||
|
||||
/* move cursor/shift display */
|
||||
#define LCD_MOVE_CURSOR_LEFT 0x10 /* move cursor left (decrement) */
|
||||
#define LCD_MOVE_CURSOR_RIGHT 0x14 /* move cursor right (increment) */
|
||||
#define LCD_MOVE_DISP_LEFT 0x18 /* shift display left */
|
||||
#define LCD_MOVE_DISP_RIGHT 0x1C /* shift display right */
|
||||
|
||||
/* function set: set interface data length and number of display lines */
|
||||
#define LCD_FUNCTION_4BIT_1LINE 0x20 /* 4-bit interface, single line, 5x7 dots */
|
||||
#define LCD_FUNCTION_4BIT_2LINES 0x28 /* 4-bit interface, dual line, 5x7 dots */
|
||||
#define LCD_FUNCTION_8BIT_1LINE 0x30 /* 8-bit interface, single line, 5x7 dots */
|
||||
#define LCD_FUNCTION_8BIT_2LINES 0x38 /* 8-bit interface, dual line, 5x7 dots */
|
||||
|
||||
|
||||
#define LCD_MODE_DEFAULT ((1<<LCD_ENTRY_MODE) | (1<<LCD_ENTRY_INC) )
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @name Functions
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
@brief Initialize display and select type of cursor
|
||||
@param dispAttr \b LCD_DISP_OFF display off\n
|
||||
\b LCD_DISP_ON display on, cursor off\n
|
||||
\b LCD_DISP_ON_CURSOR display on, cursor on\n
|
||||
\b LCD_DISP_ON_CURSOR_BLINK display on, cursor on flashing
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_init(uint8_t dispAttr);
|
||||
|
||||
|
||||
/**
|
||||
@brief Clear display and set cursor to home position
|
||||
@param void
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_clrscr(void);
|
||||
|
||||
|
||||
/**
|
||||
@brief Set cursor to home position
|
||||
@param void
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_home(void);
|
||||
|
||||
|
||||
/**
|
||||
@brief Set cursor to specified position
|
||||
|
||||
@param x horizontal position\n (0: left most position)
|
||||
@param y vertical position\n (0: first line)
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_gotoxy(uint8_t x, uint8_t y);
|
||||
|
||||
|
||||
/**
|
||||
@brief Set illumination pin
|
||||
@param void
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_led(uint8_t onoff);
|
||||
|
||||
|
||||
/**
|
||||
@brief Display character at current cursor position
|
||||
@param c character to be displayed
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_putc(char c);
|
||||
|
||||
|
||||
/**
|
||||
@brief Display string without auto linefeed
|
||||
@param s string to be displayed
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_puts(const char *s);
|
||||
|
||||
|
||||
/**
|
||||
@brief Display string from program memory without auto linefeed
|
||||
@param s string from program memory be be displayed
|
||||
@return none
|
||||
@see lcd_puts_P
|
||||
*/
|
||||
extern void lcd_puts_p(const char *progmem_s);
|
||||
|
||||
|
||||
/**
|
||||
@brief Send LCD controller instruction command
|
||||
@param cmd instruction to send to LCD controller, see HD44780 data sheet
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_command(uint8_t cmd);
|
||||
|
||||
|
||||
/**
|
||||
@brief Send data byte to LCD controller
|
||||
|
||||
Similar to lcd_putc(), but without interpreting LF
|
||||
@param data byte to send to LCD controller, see HD44780 data sheet
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_data(uint8_t data);
|
||||
|
||||
/**
|
||||
@brief Clear CGRAM
|
||||
@param void
|
||||
@return none
|
||||
*/
|
||||
extern void lcd_clear_CGRAM (void);
|
||||
|
||||
/**
|
||||
@brief Create custom character in CGRAM
|
||||
@param charnum: Character position in CGRAM. You can define maximum 8 chars.
|
||||
@param values[]: Custom character descriptor pointer.
|
||||
@return 0 - The custom character successfully created
|
||||
@return 1 - If the charnum greater than 7. You can define maximum 8 chars.
|
||||
*/
|
||||
extern uint8_t lcd_create_custom_char (uint8_t charnum, const uint8_t * values);
|
||||
|
||||
/**
|
||||
@brief macros for automatically storing string constant in program memory
|
||||
*/
|
||||
#define lcd_puts_P(__s) lcd_puts_p(PSTR(__s))
|
||||
|
||||
/*@}*/
|
||||
#endif //LCD_H
|
||||
@ -1,161 +0,0 @@
|
||||
/*
|
||||
pcf8574 lib 0x02
|
||||
|
||||
copyright (c) Davide Gironi, 2012
|
||||
|
||||
Released under GPLv3.
|
||||
Please refer to LICENSE file for licensing information.
|
||||
*/
|
||||
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <util/delay.h>
|
||||
|
||||
#include "pcf8574.h"
|
||||
|
||||
//path to i2c fleury lib
|
||||
#include PCF8574_I2CFLEURYPATH
|
||||
|
||||
/*
|
||||
* initialize
|
||||
*/
|
||||
void pcf8574_init() {
|
||||
#if PCF8574_I2CINIT == 1
|
||||
//init i2c
|
||||
i2c_init();
|
||||
_delay_us(10);
|
||||
#endif
|
||||
|
||||
//reset the pin status
|
||||
uint8_t i = 0;
|
||||
for(i=0; i<PCF8574_MAXDEVICES; i++)
|
||||
pcf8574_pinstatus[i] = 0;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
* get output status
|
||||
*/
|
||||
int8_t pcf8574_getoutput(uint8_t deviceid) {
|
||||
int8_t data = -1;
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES)) {
|
||||
data = pcf8574_pinstatus[deviceid];
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
/*
|
||||
* get output pin status
|
||||
*/
|
||||
int8_t pcf8574_getoutputpin(uint8_t deviceid, uint8_t pin) {
|
||||
int8_t data = -1;
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pin >= 0 && pin < PCF8574_MAXPINS)) {
|
||||
data = pcf8574_pinstatus[deviceid];
|
||||
data = (data >> pin) & 0b00000001;
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
/*
|
||||
* set output pins
|
||||
*/
|
||||
int8_t pcf8574_setoutput(uint8_t deviceid, uint8_t data) {
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES)) {
|
||||
pcf8574_pinstatus[deviceid] = data;
|
||||
i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_WRITE);
|
||||
i2c_write(data);
|
||||
i2c_stop();
|
||||
return 0;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* set output pins, replace actual status of a device from pinstart for pinlength with data
|
||||
*/
|
||||
int8_t pcf8574_setoutputpins(uint8_t deviceid, uint8_t pinstart, uint8_t pinlength, int8_t data) {
|
||||
//example:
|
||||
//actual data is 0b01101110
|
||||
//want to change ---
|
||||
//pinstart 4
|
||||
//data 101 (pinlength 3)
|
||||
//result 0b01110110
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pinstart - pinlength + 1 >= 0 && pinstart - pinlength + 1 >= 0 && pinstart < PCF8574_MAXPINS && pinstart > 0 && pinlength > 0)) {
|
||||
uint8_t b = 0;
|
||||
b = pcf8574_pinstatus[deviceid];
|
||||
uint8_t mask = ((1 << pinlength) - 1) << (pinstart - pinlength + 1);
|
||||
data <<= (pinstart - pinlength + 1);
|
||||
data &= mask;
|
||||
b &= ~(mask);
|
||||
b |= data;
|
||||
pcf8574_pinstatus[deviceid] = b;
|
||||
//update device
|
||||
i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_WRITE);
|
||||
i2c_write(b);
|
||||
i2c_stop();
|
||||
return 0;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* set output pin
|
||||
*/
|
||||
int8_t pcf8574_setoutputpin(uint8_t deviceid, uint8_t pin, uint8_t data) {
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pin >= 0 && pin < PCF8574_MAXPINS)) {
|
||||
uint8_t b = 0;
|
||||
b = pcf8574_pinstatus[deviceid];
|
||||
b = (data != 0) ? (b | (1 << pin)) : (b & ~(1 << pin));
|
||||
pcf8574_pinstatus[deviceid] = b;
|
||||
//update device
|
||||
i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_WRITE);
|
||||
i2c_write(b);
|
||||
i2c_stop();
|
||||
return 0;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* set output pin high
|
||||
*/
|
||||
int8_t pcf8574_setoutputpinhigh(uint8_t deviceid, uint8_t pin) {
|
||||
return pcf8574_setoutputpin(deviceid, pin, 1);
|
||||
}
|
||||
|
||||
/*
|
||||
* set output pin low
|
||||
*/
|
||||
int8_t pcf8574_setoutputpinlow(uint8_t deviceid, uint8_t pin) {
|
||||
return pcf8574_setoutputpin(deviceid, pin, 0);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* get input data
|
||||
*/
|
||||
int8_t pcf8574_getinput(uint8_t deviceid) {
|
||||
int8_t data = -1;
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES)) {
|
||||
i2c_start(((PCF8574_ADDRBASE+deviceid)<<1) | I2C_READ);
|
||||
data = ~i2c_readNak();
|
||||
i2c_stop();
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
/*
|
||||
* get input pin (up or low)
|
||||
*/
|
||||
int8_t pcf8574_getinputpin(uint8_t deviceid, uint8_t pin) {
|
||||
int8_t data = -1;
|
||||
if((deviceid >= 0 && deviceid < PCF8574_MAXDEVICES) && (pin >= 0 && pin < PCF8574_MAXPINS)) {
|
||||
data = pcf8574_getinput(deviceid);
|
||||
if(data != -1) {
|
||||
data = (data >> pin) & 0b00000001;
|
||||
}
|
||||
}
|
||||
return data;
|
||||
}
|
||||
|
||||
@ -1,39 +0,0 @@
|
||||
/*
|
||||
pcf8574 lib 0x02
|
||||
|
||||
copyright (c) Davide Gironi, 2012
|
||||
|
||||
Released under GPLv3.
|
||||
Please refer to LICENSE file for licensing information.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PCF8574_H_
|
||||
#define PCF8574_H_
|
||||
|
||||
#define PCF8574_ADDRBASE (0x20) //device base address
|
||||
|
||||
#define PCF8574_I2CINIT 1 //init i2c
|
||||
|
||||
#define PCF8574_MAXDEVICES 1 //max devices, depends on address (3 bit)
|
||||
#define PCF8574_MAXPINS 8 //max pin per device
|
||||
|
||||
//settings
|
||||
#define PCF8574_I2CFLEURYPATH "i2cmaster.h" //define the path to i2c fleury lib
|
||||
|
||||
//pin status
|
||||
volatile uint8_t pcf8574_pinstatus[PCF8574_MAXDEVICES];
|
||||
|
||||
|
||||
//functions
|
||||
void pcf8574_init();
|
||||
extern int8_t pcf8574_getoutput(uint8_t deviceid);
|
||||
extern int8_t pcf8574_getoutputpin(uint8_t deviceid, uint8_t pin);
|
||||
extern int8_t pcf8574_setoutput(uint8_t deviceid, uint8_t data);
|
||||
extern int8_t pcf8574_setoutputpins(uint8_t deviceid, uint8_t pinstart, uint8_t pinlength, int8_t data);
|
||||
extern int8_t pcf8574_setoutputpin(uint8_t deviceid, uint8_t pin, uint8_t data);
|
||||
extern int8_t pcf8574_setoutputpinhigh(uint8_t deviceid, uint8_t pin);
|
||||
extern int8_t pcf8574_setoutputpinlow(uint8_t deviceid, uint8_t pin);
|
||||
extern int8_t pcf8574_getinput(uint8_t deviceid);
|
||||
extern int8_t pcf8574_getinputpin(uint8_t deviceid, uint8_t pin);
|
||||
#endif
|
||||
@ -1,34 +0,0 @@
|
||||
#include <util/atomic.h>
|
||||
#include "pid.h"
|
||||
|
||||
float pid_step(volatile struct pid* controller, float dt, float error) {
|
||||
//TODO convert to integer; floats cause trouble ...
|
||||
|
||||
// Calculate p term
|
||||
float p = error * controller->kP;
|
||||
|
||||
// Calculate i term
|
||||
ATOMIC_BLOCK(ATOMIC_FORCEON){
|
||||
controller->integral += error * dt * controller->kI;
|
||||
if(controller->integral > 80)
|
||||
controller->integral = 80;
|
||||
if(controller->integral < -80)
|
||||
controller->integral = -80;
|
||||
}
|
||||
|
||||
// Calculate d term, taking care to not divide by zero
|
||||
float d = dt == 0 ? 0 : ((error - controller->lastError) / dt) * controller->kD;
|
||||
controller->lastError = error;
|
||||
|
||||
return p + controller->integral + d;
|
||||
}
|
||||
|
||||
void init_pid(volatile struct pid* controller, float p, float i, float d){
|
||||
*controller = (struct pid){
|
||||
.kP = p,
|
||||
.kI = i,
|
||||
.kD = d,
|
||||
.lastError = 0,
|
||||
.integral = 0
|
||||
};
|
||||
}
|
||||
@ -1,14 +0,0 @@
|
||||
struct pid{
|
||||
// Controller gains
|
||||
float kP;
|
||||
float kI;
|
||||
float kD;
|
||||
|
||||
// State variables
|
||||
float lastError;
|
||||
float integral;
|
||||
};
|
||||
|
||||
float pid_step(volatile struct pid* controller, float dt, float error);
|
||||
void init_pid(volatile struct pid* controller, float p, float i, float d);
|
||||
|
||||
@ -1,202 +0,0 @@
|
||||
/*************************************************************************
|
||||
* Title: I2C master library using hardware TWI interface
|
||||
* Author: Peter Fleury <pfleury@gmx.ch> http://jump.to/fleury
|
||||
* File: $Id: twimaster.c,v 1.4 2015/01/17 12:16:05 peter Exp $
|
||||
* Software: AVR-GCC 3.4.3 / avr-libc 1.2.3
|
||||
* Target: any AVR device with hardware TWI
|
||||
* Usage: API compatible with I2C Software Library i2cmaster.h
|
||||
**************************************************************************/
|
||||
#include <inttypes.h>
|
||||
#include <compat/twi.h>
|
||||
|
||||
#include "i2cmaster.h"
|
||||
|
||||
|
||||
/* define CPU frequency in hz here if not defined in Makefile */
|
||||
#ifndef F_CPU
|
||||
#define F_CPU 4000000UL
|
||||
#endif
|
||||
|
||||
/* I2C clock in Hz */
|
||||
#define SCL_CLOCK 100000L
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Initialization of the I2C bus interface. Need to be called only once
|
||||
*************************************************************************/
|
||||
void i2c_init(void)
|
||||
{
|
||||
/* initialize TWI clock: 100 kHz clock, TWPS = 0 => prescaler = 1 */
|
||||
|
||||
TWSR = (1<<TWPS1) | (1<<TWPS1); /* 64 prescaler */
|
||||
TWBR = ((F_CPU/SCL_CLOCK)-16)/2; /* must be > 10 for stable operation */
|
||||
|
||||
}/* i2c_init */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Issues a start condition and sends address and transfer direction.
|
||||
return 0 = device accessible, 1= failed to access device
|
||||
*************************************************************************/
|
||||
unsigned char i2c_start(unsigned char address)
|
||||
{
|
||||
uint8_t twst;
|
||||
|
||||
// send START condition
|
||||
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
|
||||
|
||||
// wait until transmission completed
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
// check value of TWI Status Register. Mask prescaler bits.
|
||||
twst = TW_STATUS & 0xF8;
|
||||
if ( (twst != TW_START) && (twst != TW_REP_START)) return 1;
|
||||
|
||||
// send device address
|
||||
TWDR = address;
|
||||
TWCR = (1<<TWINT) | (1<<TWEN);
|
||||
|
||||
// wail until transmission completed and ACK/NACK has been received
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
// check value of TWI Status Register. Mask prescaler bits.
|
||||
twst = TW_STATUS & 0xF8;
|
||||
if ( (twst != TW_MT_SLA_ACK) && (twst != TW_MR_SLA_ACK) ) return 1;
|
||||
|
||||
return 0;
|
||||
|
||||
}/* i2c_start */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Issues a start condition and sends address and transfer direction.
|
||||
If device is busy, use ack polling to wait until device is ready
|
||||
|
||||
Input: address and transfer direction of I2C device
|
||||
*************************************************************************/
|
||||
void i2c_start_wait(unsigned char address)
|
||||
{
|
||||
uint8_t twst;
|
||||
|
||||
|
||||
while ( 1 )
|
||||
{
|
||||
// send START condition
|
||||
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
|
||||
|
||||
// wait until transmission completed
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
// check value of TWI Status Register. Mask prescaler bits.
|
||||
twst = TW_STATUS & 0xF8;
|
||||
if ( (twst != TW_START) && (twst != TW_REP_START)) continue;
|
||||
|
||||
// send device address
|
||||
TWDR = address;
|
||||
TWCR = (1<<TWINT) | (1<<TWEN);
|
||||
|
||||
// wail until transmission completed
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
// check value of TWI Status Register. Mask prescaler bits.
|
||||
twst = TW_STATUS & 0xF8;
|
||||
if ( (twst == TW_MT_SLA_NACK )||(twst ==TW_MR_DATA_NACK) )
|
||||
{
|
||||
/* device busy, send stop condition to terminate write operation */
|
||||
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
|
||||
|
||||
// wait until stop condition is executed and bus released
|
||||
while(TWCR & (1<<TWSTO));
|
||||
|
||||
continue;
|
||||
}
|
||||
//if( twst != TW_MT_SLA_ACK) return 1;
|
||||
break;
|
||||
}
|
||||
|
||||
}/* i2c_start_wait */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Issues a repeated start condition and sends address and transfer direction
|
||||
|
||||
Input: address and transfer direction of I2C device
|
||||
|
||||
Return: 0 device accessible
|
||||
1 failed to access device
|
||||
*************************************************************************/
|
||||
unsigned char i2c_rep_start(unsigned char address)
|
||||
{
|
||||
return i2c_start( address );
|
||||
|
||||
}/* i2c_rep_start */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Terminates the data transfer and releases the I2C bus
|
||||
*************************************************************************/
|
||||
void i2c_stop(void)
|
||||
{
|
||||
/* send stop condition */
|
||||
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
|
||||
|
||||
// wait until stop condition is executed and bus released
|
||||
while(TWCR & (1<<TWSTO));
|
||||
|
||||
}/* i2c_stop */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Send one byte to I2C device
|
||||
|
||||
Input: byte to be transfered
|
||||
Return: 0 write successful
|
||||
1 write failed
|
||||
*************************************************************************/
|
||||
unsigned char i2c_write( unsigned char data )
|
||||
{
|
||||
uint8_t twst;
|
||||
|
||||
// send data to the previously addressed device
|
||||
TWDR = data;
|
||||
TWCR = (1<<TWINT) | (1<<TWEN);
|
||||
|
||||
// wait until transmission completed
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
// check value of TWI Status Register. Mask prescaler bits
|
||||
twst = TW_STATUS & 0xF8;
|
||||
if( twst != TW_MT_DATA_ACK) return 1;
|
||||
return 0;
|
||||
|
||||
}/* i2c_write */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Read one byte from the I2C device, request more data from device
|
||||
|
||||
Return: byte read from I2C device
|
||||
*************************************************************************/
|
||||
unsigned char i2c_readAck(void)
|
||||
{
|
||||
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
return TWDR;
|
||||
|
||||
}/* i2c_readAck */
|
||||
|
||||
|
||||
/*************************************************************************
|
||||
Read one byte from the I2C device, read is followed by a stop condition
|
||||
|
||||
Return: byte read from I2C device
|
||||
*************************************************************************/
|
||||
unsigned char i2c_readNak(void)
|
||||
{
|
||||
TWCR = (1<<TWINT) | (1<<TWEN);
|
||||
while(!(TWCR & (1<<TWINT)));
|
||||
|
||||
return TWDR;
|
||||
|
||||
}/* i2c_readNak */
|
||||
Loading…
Reference in New Issue