commit 407d37779a1986f8c443e12b0b2fa03da9f1bee4
parent c0d752515c4e97832895326c38cc84c0c87082b2
Author: William Lindholm <william_lindholm@outlook.com>
Date: Mon, 25 Nov 2024 17:00:00 +0000
Moved calculations for timer outside ISR
Diffstat:
1 file changed, 44 insertions(+), 31 deletions(-)
diff --git a/Project2/Project2/main.c b/Project2/Project2/main.c
@@ -10,6 +10,9 @@
#define BAUD_RATE 115200
#define QUEUE_SIZE 512
+#define MIN_SERVO_PW
+#define MAX_SERVO_PW
+
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/cpufunc.h>
@@ -49,10 +52,10 @@ bool ADC_READING_READY;
uint16_t ADC_VALUE;
/* 555 Timer related globals */
+bool TIMER_STOPPED;
bool TIMER_READING_READY;
-uint16_t TCB0_HIGH_PULSE;
-uint16_t TCB0_LOW_PULSE;
-uint16_t TCB0_PERIOD;
+uint16_t TCB_FALLING_PULSE;
+uint16_t TCB_RISING_PULSE;
/* Servo related globals */
uint8_t SERVO_SPEED;
@@ -144,6 +147,8 @@ int main(void)
case 'E':
case 'e':
continuous_timer_reporting = false;
+ sprintf(str_buffer, "Stopped.\n");
+ sendmsg(str_buffer);
break;
case 'V': // print ADC voltage
case 'v':
@@ -156,7 +161,7 @@ int main(void)
case 'N': // Stop continuous reporting of ADC
case 'n':
continuous_adc_reporting = false;
- sprintf(str_buffer, "Stopped\n");
+ sprintf(str_buffer, "Stopped.\n");
sendmsg(str_buffer);
break;
default:
@@ -327,7 +332,7 @@ bool queue_is_empty()
/* Allows printing of ADC information */
/************************************************************************/
-// Print the current ADC volatage reading (mV)
+// Print the current ADC voltage reading (mV)
void print_adc_voltage()
{
char str_buffer[16];
@@ -351,21 +356,26 @@ void print_adc_value()
void print_tcb0_low_pulse()
{
char str_buffer[16];
- sprintf(str_buffer, "Low = %dmS\n", TCB0_LOW_PULSE);
+ sprintf(str_buffer, "Low = %dmS\n", (uint16_t)(TCB_FALLING_PULSE/10));
sendmsg(str_buffer);
}
void print_tcb0_high_pulse()
{
char str_buffer[16];
- sprintf(str_buffer, "High = %dmS\n", TCB0_HIGH_PULSE);
+ sprintf(str_buffer, "High = %dmS\n", (uint16_t)((TCB_RISING_PULSE - TCB_FALLING_PULSE)/10));
sendmsg(str_buffer);
}
void print_tcb0_timer_period()
{
char str_buffer[16];
- sprintf(str_buffer, "Timer = %dmS\n", TCB0_PERIOD);
+
+ if (TIMER_STOPPED)
+ sprintf(str_buffer, "Timer = Stopped\n");
+ else
+ sprintf(str_buffer, "Timer = %dmS\n", (uint16_t)(TCB_RISING_PULSE/10));
+
sendmsg(str_buffer);
}
@@ -376,7 +386,7 @@ void print_available_commands()
sprintf(
str_buffer,
"Undefined instruction.\n"
- "0 - 9 = Servo speed\n"
+ "0 - 9 = Servo speed.\n"
"A/a = ADC value.\n"
"V/v = ADC voltage reading (mV).\n"
"M/m = Continuous ADC reporting (mV).\n"
@@ -388,11 +398,11 @@ void print_available_commands()
sprintf(
str_buffer,
- "T/t = Report timer period (mS)\n"
- "L/l = Report low pulse\n"
- "H/h = Report high pulse\n"
- "C/c Continuously report timer period\n"
- "E/e Stop continuously reporting timer period\n"
+ "T/t = Report timer period (mS).\n"
+ "L/l = Report low pulse.\n"
+ "H/h = Report high pulse.\n"
+ "C/c Continuously report timer period.\n"
+ "E/e Stop continuously reporting timer period.\n"
);
sendmsg(str_buffer);
}
@@ -417,6 +427,7 @@ ISR(USART3_TXC_vect)
}
}
+
/************************************************************************/
/* ADC0 result ready ISR (handle voltage reading measurements) */
/************************************************************************/
@@ -428,32 +439,36 @@ ISR(ADC0_RESRDY_vect)
}
+/************************************************************************/
+/* Interrupt for signal edge on 555 timer input */
+/************************************************************************/
ISR(TCB0_INT_vect)
{
TCB0.INTFLAGS = 1; // Reset interrupt flag
- uint16_t ccmp = TCB0.CCMP;
- uint16_t cnt = TCB0.CNT;
-
- // 1 / 1MHz = 0.1uS per tick
- TCB0_PERIOD = 0.1 * cnt; // calculate timer period in uS
- TCB0_LOW_PULSE = 0.1 * ccmp;
- TCB0_HIGH_PULSE = 0.1 * (cnt - ccmp);
-
- TIMER_READING_READY = true;
+ // Store timings in global scope
+ TCB_FALLING_PULSE = TCB0.CCMP;
+ TCB_RISING_PULSE = TCB0.CNT;
+
+ // Received signal edge, meaning timer is not stopped
+ TIMER_STOPPED = false;
+ TIMER_READING_READY = true; // notify new reading available
}
+
+/************************************************************************/
+/* Timeout check interrupt for 555 timer */
+/************************************************************************/
ISR(TCB1_INT_vect)
{
TCB1.INTFLAGS = 1; // Reset interrupt flag
- char str_buffer[16];
- sprintf(str_buffer, "STOPPED\n");
- sendmsg(str_buffer);
+ TIMER_READING_READY = true;
+ TIMER_STOPPED = true; // Timer has stopped since this timeout interrupt was called
}
ISR(TCB2_INT_vect)
{
- TCB2.INTFLAGS = 1; // clear interrupt flag
+ 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)
@@ -477,11 +492,9 @@ ISR(TCB2_INT_vect)
if (threshold == -1) { // no movement
return;
}
- else if (sw_counter > threshold)
+
+ if (sw_counter > threshold) // if designated time has passed, move to next position
{
- char str_buffer[16];
- sprintf(str_buffer, "to %lu\n", desired_step);
- sendmsg(str_buffer);
sw_counter = 0;
desired_pos += direction;
}
