commit 08e346972497aed49e42a7cc71fc23dcc977049f
parent a086bd07df9c4afec1b496c8f531bc3bfc854375
Author: William Lindholm <william_lindholm@outlook.com>
Date: Tue, 3 Dec 2024 19:17:39 +0000
Improved comments
Diffstat:
1 file changed, 25 insertions(+), 13 deletions(-)
diff --git a/Project2/Project2/main.c b/Project2/Project2/main.c
@@ -25,10 +25,6 @@
#include <stdbool.h>
#include <ctype.h>
-
-/// TODO
-// ENABLE EVENT CONTROLLED START CONVERSION FOR ADC
-
/************************************************************************/
/* Globals */
/************************************************************************/
@@ -154,7 +150,7 @@ int main(void)
sprintf(str_buffer, "Stopped.\n");
sendmsg(str_buffer);
break;
- case 'V': // print ADC voltage
+ case 'V':
case 'v':
print_adc_voltage();
break;
@@ -173,17 +169,20 @@ int main(void)
break;
}
}
-
}
// Continuous reporting
if (continuous_adc_reporting && ADC_READING_READY && queue_is_empty())
{
+ // Given that continuous ADC reporting is enabled,
+ // there is new data, and the output queue is empty, print new measurment
print_adc_voltage();
ADC_READING_READY = false;
}
if (continuous_timer_reporting && TIMER_READING_READY && queue_is_empty())
{
+ // Given that continuous timer reporting is enabled,
+ // there is new data, and the output queue is empty, print new measurment
print_tcb0_timer_period();
TIMER_READING_READY = false;
}
@@ -210,6 +209,9 @@ void set_leds_output()
}
+/************************************************************************/
+/* Enable and Configure event system */
+/************************************************************************/
void configure_EVSYS()
{
// Set TCB0 to measure PW from PE3
@@ -222,6 +224,9 @@ void configure_EVSYS()
EVSYS.USERADC0 = EVSYS_CHANNEL_CHANNEL2_gc;
}
+/************************************************************************/
+/* Enable and Configure USART for communication over USB */
+/************************************************************************/
static void configure_USART3(void)
{
// Assign the USART3 transmit complete interrupt high priority (1)
@@ -289,6 +294,9 @@ void configure_TCB2()
TCB2.CCMP = 50000; // (5*10^-3)/(1/(10*10^6)) = 50000 -> 5mS
}
+/************************************************************************/
+/* Enable and configure TCA0 for PWM output */
+/************************************************************************/
void configure_TCA0()
{
TCA0.SINGLE.CTRLA = TCA_SINGLE_CLKSEL_DIV16_gc; // Set clock to clock peripheral with div 16 prescaler
@@ -297,7 +305,6 @@ void configure_TCA0()
TCA0.SINGLE.CMP0 = 1250; // Set to 1mS, -90 deg
TCA0.SINGLE.CTRLA |= TCA_SINGLE_ENABLE_bm; // Enable TCA0
PORTA.DIRSET = PIN0_bm; // Set PA0 as output
-
}
/*this function loads the queue and */
@@ -312,10 +319,11 @@ void sendmsg (char *s)
temp++;
msg_len++;
}
-
+
+ // Calculate the available space in the circular buffer
uint8_t available_space = (sndcntr > qcntr) ? (sndcntr - qcntr - 1) : (QUEUE_SIZE - qcntr + sndcntr - 1);
- if (msg_len > available_space) // prevent it from adding any more to the buffer if its full.
+ if (msg_len > available_space) // prevent it from adding any more to the buffer if its full. (if message is longer than remaining space)
return;
// Send message with circular buffer
@@ -506,24 +514,28 @@ ISR(TCB1_INT_vect)
LED_Array[6].LED_PORT->OUTSET = LED_Array[6].bit_mapping; // turn on LED 6
}
+/************************************************************************/
+/* TCB2 ISR for servo control */
+/************************************************************************/
ISR(TCB2_INT_vect)
{
+ // Configured to run every 5ms
TCB2.INTFLAGS = 1; // Reset interrupt flag
static uint16_t sw_counter = 0; // software counter, decides when to increment desired_pos
- static uint8_t desired_pos = 0; // (value: 0 - 25)
+ static uint8_t desired_pos = 0; // (value: 0 - 24)
static uint32_t desired_step;
// calculate next desired step
// 1250-2500 (1-2mS) should be correct according to datasheet of SG90 servo,
// I found however that this results in less than 45 deg of range
- // 700-3400 () results in the highest range according to my testing.
- desired_step = 700 + ((2700 * (uint32_t)desired_pos) / 25); // 25 steps
+ // 700-3400 (0.56mS-2.72mS high pulse) results in the highest range according to my testing.
+ desired_step = 700 + ((2700 * (uint32_t)desired_pos) / 24); // 25 steps (including step 0)
static int8_t direction = 1;
sw_counter++;
- if (desired_pos == 25)
+ if (desired_pos == 24)
{
direction = -1;
}
