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Version vom 31. März 2013, 17:21 Uhr von Dirk (Diskussion | Beiträge) (→Linienfolger und Bumper Board Library)
Inhaltsverzeichnis
- 1 RP6 Multi IO Erweiterungsmodul
- 1.1 Hardware
- 1.2 Software
- 1.3 Siehe auch
- 1.4 Weblinks
- 1.5 Autoren
RP6 Multi IO Erweiterungsmodul
Das RP6-Multi-IO Erweiterungsmodul besteht aus fünf Platinen. Eine Hauptplatine, im üblichen RP6-Layout, enthält eine Vielzahl möglicher Sensoren und Aktoren wie Temperatursensor, Stromsensor, Berührungssensor, Servo-Ansteuerung, LEDs, Buzzer etc. An sie können die vier weiteren Platinen angesteckt werden. Diese sind eine Bumper-Platine zum Anbringen am Heck des RP6, eine Radio-Platine, eine Platine mit vier Tastern und eine mit einem Liniensensor-Array von fünf CNY70-Reflexoptokopplern.
Diese fünf Platinen können bei fabqu (oder [1]) bestellt werden. Sie sind mit Lötstopplack (schwarz) sowie beidseitig mit einem Bestückungsdruck (in weiß) versehen. Sie sind nicht aufgebaut, aber fabqu bietet an, die schwer einzulötenden SMD-ICs (und bei Bedarf auch alle anderen SMD-Bauteile) in einer einmaligen Sammelbestellung zu bestellen und einzulöten.
Hardware
Der Hardware-Artikel befindet sich hier.
Software
In diesem Artikel, der die Software für die tolle von Fabian designte Multi IO Projekt Platine vorstellt, darf ich (Dirk) mich austoben. Die vorgestellten Bibliotheken sind natürlich nur ein Vorschlag und sollen nur zur Anregung eigener Projekte und eigener Bibliotheken dienen. Es ist geplant, eine Bibliothek mit allen fest installierten Sensoren und Aktoren aufzubauen. Darüber hinaus soll sich eine weitere Bibliothek mit Umwelt-Fragen beschäftigen (Luftdruck, Luftfeuchtigkeit, Temperatur) sowie eine mit den Sensoren für Lageerkennung (GPS, 2D- oder 9D-Kompass). Diese Bibliotheken liegen – wie das gesamte Projekt – als Open Source vor und werden den Usern zugänglich gemacht.
RP6 M256 WIFI
Die M256-WiFi-Platine (= "M256") kann über den I2C-Bus alle I2C-Sensoren und I2C-Aktoren ansteuern und hat mit ihren vielen freien Ressourcen (Portpins) natürlich optimale Voraussetzungen, um die weiteren Funktionen der Multi IO Platine zu nutzen. Dazu wird sie (wenn alle Funktionen gleichzeitig genutzt werden sollen) mit drei Steckverbindungen angeschlossen:
- IO-Mxxx <-> IO_PWM/T2/T3
- ADC-Mxxx <-> ADC_IO2/CMP
- ADC-M256 <-> ADC_IO1
Dadurch ergeben sich umfangreiche Möglichkeiten, die Sensoren der Multi IO Platine auszulesen und Aktoren zu schalten. Die folgenden 3 Tabellen zeigen die Verbindungen:
Stecker IO-Mxxx:
| Stecker-Pin | M256-Port | M256-Funktion | Multi IO-Funktion | I/O |
| 1 | PE7 | ICP3 | DCF77 | I |
| 2 | GND | |||
| 3 | PE6 | T3 | SHARPS_PWR | O |
| 4 | PE5 | OC3C | SNAKE_SWITCH | O |
| 5 | PB4 | OC2A | BUZZER | O |
| 6 | PK7 | ADC15 | (TX *) | |
| 7 | PH6 | OC2B | SNAKE_KEY / (TX *) | I |
| 8 | PK6 | ADC14 | (RX *) | |
| 9 | PE4 | OC3B | LFS_PWR | O |
| 10 | VDD |
Zu *) UART nicht am IO_PWM/Tx/Ty Stecker der M256 vorhanden!
Stecker ADC-Mxxx:
| Stecker-Pin | M256-Port | M256-Funktion | Multi IO-Funktion | I/O |
| 1 | PK0 | ADC8 | TOUCH / LFS_L | I |
| 2 | GND | |||
| 3 | PK1 | ADC9 | 3V3 / LFS_M | I |
| 4 | PE3 | OC3A/AIN1 | BUMPER_L | I/O * |
| 5 | PK2 | ADC10 | LFS_R | I |
| 6 | GND | |||
| 7 | PK3 | ADC11 | BUTTONS | I |
| 8 | PE2 | XCK0/AIN0 | BUMPER_R | I/O * |
| 9 | PK4 | ADC12 | 3V3 alt.1 | I |
| 10 | VDD |
Zu *) Eingang für Bumper-Taster, Ausgang für Bumper-LED!
Stecker ADC-M256:
| Stecker-Pin | M256-Port | M256-Funktion | Multi IO-Funktion | I/O |
| 1 | PF1 | ADC1 | LDR1 | I |
| 2 | GND | GND | ||
| 3 | PF0 | ADC0 | LDR2 | I |
| 4 | VDD | |||
| 5 | PF2 | ADC2 | LFS_R1 | I |
| 6 | GND | GND | ||
| 7 | PF3 | ADC3 | LFS_L1 | I |
| 8 | GND | GND | ||
| 9 | PF4 | ADC4 | SHARP_L | I |
| 10 | GND | GND | ||
| 11 | PF5 | ADC5 | SHARP_R | I |
| 12 | PF6 | ADC6 | SNAKE_R | I |
| 13 | PF7 | ADC7 | SNAKE_L | I |
| 14 | GND | GND |
Multi IO Projekt Library
Diese Avr-gcc Library für das Multi IO Projekt Board (= "MultiIO") geht von folgenden Voraussetzungen aus:
- Die RP6v2 M256 WiFi Platine (= "M256") wird für die Ansteuerung der MultiIO benutzt (1).
- Die M256 ist der I2C-Bus Master.
- Die I2C-Bus Geschwindigkeit beträgt 100 kHz.
- Alle Hardware-Komponenten der MultiIO sind aufgebaut (2).
- Alle Jumper auf der MultiIO sind in ihrer Standardstellung (3).
- Die MultiIO und die M256 sind mit dem XBUS des RP6-Systems 1:1 verbunden.
- Der Wannenstecker IO_Mxxx der MultiIO ist mit dem Wannenstecker IO_PWM/T2/T3 der M256 1:1 verbunden.
- Der Wannenstecker ADC_Mxxx der MultiIO ist mit dem Wannenstecker ADC_IO2/CMP der M256 1:1 verbunden.
- Der Wannenstecker ADC_M256 der MultiIO ist mit dem Wannenstecker ADC_IO1 der M256 1:1 verbunden.
Zu (1): Dies soll nur der 1. Schritt sein. Natürlich ist die MultiIO auch
an die RP6 BASE, die M32 und die M128 des RP6-Systems und an
praktisch alle anderen Microcontroller-Plattformen anschließbar!
Zu (2): Wenn nicht alle Komponenten aufgebaut sind, sind die zugehörigen
Funktionen natürlich nicht funktionsfähig und können nicht benutzt
werden.
Zu (3): Siehe folgende Abbildung!
Standard-Jumperstellung für die M256
Hinweis: Die Jumper sind orange eingezeichnet!
Die rote Doppellinie bedeutet: Hier NIE einen Jumper aufstecken!!! Die Jumper der Stromversorgung wurden nicht berücksichtigt!
Die Library (Software-Bibliothek) besteht aus drei Teilen:
- Dem Configuration Header -> Hier stehen alle Definitionen und Festlegungen, die der grundlegenden Konfiguration der MultiIO dienen. Diese Datei kann auf die eigenen Hardware-Voraussetzungen angepaßt werden, ohne dass die eigentliche Library (Header und Source) verändert werden muss.
- Dem Library Header -> Hier gibt es Definitionen, Variablen- und Funktionsdeklarationen für die Library.
- Der Library Source -> Das ist die eigentliche Library.
Configuration Header
Datei RP6M256_MultiIO.h:
/* * **************************************************************************** * RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples * **************************************************************************** * Example: RP6M256 MultiIO Library * Author(s): Dirk * **************************************************************************** * Description: * Configuration header file for new MultiIO Project Board library. * * **************************************************************************** */ #ifndef RP6M256_MULTIIO_H #define RP6M256_MULTIIO_H /*****************************************************************************/ // MultiIO hardwired components: // - I2C Voltage & Current Sensor (LTC2990) // - I2C Real Time Clock (RTC DS1307Z) // - I2C Temperature Sensor (TCN75A) // - I2C Servo Controller (PCA9685) // - I2C EEPROM (24LCXXX) // - 3V3 Voltage Sensor // - Touch Sensor (with NE555) // - Buttons // - LEDs // - Buzzer /*****************************************************************************/ // I2C Voltage & Current Sensor (LTC2990): #define I2C_MULTIIO_VCS_ADR 0x98 // ADR1/0 = 0/0 //#define I2C_MULTIIO_VCS_ADR 0x9a // ADR1/0 = 0/1 //#define I2C_MULTIIO_VCS_ADR 0x9c // ADR1/0 = 1/0 //#define I2C_MULTIIO_VCS_ADR 0x9e // ADR1/0 = 1/1 //#define I2C_MULTIIO_VCS_ADR 0xee // Global sync address // (Shunt resistor, current and voltage adjustment!) #define SHUNT_R 0.051 // R10 [Ohm] #define C_ADJUST 2.0 // Current adjust factor #define C_OFFSET 0.0 // Current offset [mA] #define VBAT_ADJUST 3.2 // (R13 + R14) / R14 #define VSERVO_ADJUST 2.5 // (R32 + R22) / R22 /*****************************************************************************/ // I2C Real Time Clock (RTC DS1307Z): #define I2C_MULTIIO_RTC_ADR 0xD0 // Default /*****************************************************************************/ // I2C Temperature Sensor (TCN75A): // (A1 always 0!) #define I2C_MULTIIO_TEMP_ADR 0x90 // A2/0 = 0/0 //#define I2C_MULTIIO_TEMP_ADR 0x92 // A2/0 = 0/1 //#define I2C_MULTIIO_TEMP_ADR 0x98 // A2/0 = 1/0 //#define I2C_MULTIIO_TEMP_ADR 0x9a // A2/0 = 1/1 /*****************************************************************************/ // I2C Servo Controller (PCA9685): // (A5, A4, A3, A2 always 0!) #define I2C_MULTIIO_SERVO_ADR 0x80 // A1/0 = 0/0 //#define I2C_MULTIIO_SERVO_ADR 0x82 // A1/0 = 0/1 //#define I2C_MULTIIO_SERVO_ADR 0x84 // A1/0 = 1/0 //#define I2C_MULTIIO_SERVO_ADR 0x86 // A1/0 = 1/1 //#define I2C_MULTIIO_SERVO_ADR 0xe0 // ALLCALLADR // (Servo power is connected to LED8 of the PCA9685!) #define CHSERVOPWR 9 // Servo left touch (LT), right touch (RT), middle position (MP) constants: // (Hints: - Servo impulse length [ms] = Servo position value / 204.8 // (Formula only valid for a PWM of 50 Hz!) // - Min. servo impulse (0,7 ms) = Servo position 143 // - Mid. servo impulse (1,5 ms) = Servo position 307 // - Max. servo impulse (2,3 ms) = Servo position 471 // - !!! You should NOT use servo position values < 143 or > 471 !!!) #define SERVO1_LT 205 // Servo impulse ~1ms #define SERVO1_RT 410 // Servo impulse ~2ms #define SERVO1_MP ((SERVO1_RT - SERVO1_LT) / 2 + SERVO1_LT) #define SERVO2_LT 205 #define SERVO2_RT 410 #define SERVO2_MP ((SERVO2_RT - SERVO2_LT) / 2 + SERVO2_LT) #define SERVO3_LT 205 #define SERVO3_RT 410 #define SERVO3_MP ((SERVO3_RT - SERVO3_LT) / 2 + SERVO3_LT) #define SERVO4_LT 205 #define SERVO4_RT 410 #define SERVO4_MP ((SERVO4_RT - SERVO4_LT) / 2 + SERVO4_LT) #define SERVO5_LT 205 #define SERVO5_RT 410 #define SERVO5_MP ((SERVO5_RT - SERVO5_LT) / 2 + SERVO5_LT) #define SERVO6_LT 205 #define SERVO6_RT 410 #define SERVO6_MP ((SERVO6_RT - SERVO6_LT) / 2 + SERVO6_LT) #define SERVO7_LT 205 #define SERVO7_RT 410 #define SERVO7_MP ((SERVO7_RT - SERVO7_LT) / 2 + SERVO7_LT) #define SERVO8_LT 205 #define SERVO8_RT 410 #define SERVO8_MP ((SERVO8_RT - SERVO8_LT) / 2 + SERVO8_LT) /*****************************************************************************/ // I2C EEPROM (24LCXXX): // (A2=1 not usable with 24LC1024-P!) #define I2C_MULTIIO_EEPROM_ADR 0xA0 // A2/1/0 = 0/0/0 //#define I2C_MULTIIO_EEPROM_ADR 0xA2 // A2/1/0 = 0/0/1 //#define I2C_MULTIIO_EEPROM_ADR 0xA4 // A2/1/0 = 0/1/0 //#define I2C_MULTIIO_EEPROM_ADR 0xA6 // A2/1/0 = 0/1/1 //#define I2C_MULTIIO_EEPROM_ADR 0xA8 // A2/1/0 = 1/0/0 //#define I2C_MULTIIO_EEPROM_ADR 0xAA // A2/1/0 = 1/0/1 //#define I2C_MULTIIO_EEPROM_ADR 0xAC // A2/1/0 = 1/1/0 //#define I2C_MULTIIO_EEPROM_ADR 0xAE // A2/1/0 = 1/1/1 // I2C-EEPROM storage capacity [kbit]: #define I2C_EEPROM_KBIT 32 // 24LC32-P <== Default //#define I2C_EEPROM_KBIT 64 // 24LC64-P //#define I2C_EEPROM_KBIT 128 // 24LC128-P //#define I2C_EEPROM_KBIT 256 // 24LC256-P //#define I2C_EEPROM_KBIT 512 // 24LC512-P //#define I2C_EEPROM_KBIT 1024 // 24LC1024-P // I2C-EEPROM pagesize [byte]: // ATTENTION: The pagesize must fit to the EEPROM type defined above! #define I2C_EEPROM_PAGESIZE 32 // EEPROM 32 or 64 kbit //#define I2C_EEPROM_PAGESIZE 64 // EEPROM 128 or 256 kbit //#define I2C_EEPROM_PAGESIZE 128 // EEPROM 512 kbit //#define I2C_EEPROM_PAGESIZE 256 // EEPROM 1024 kbit /*****************************************************************************/ // 3V3 Voltage Sensor: #define ADC_MULTIIO_3V3 ADC_9 // At ADC-Mxxx //#define ADC_MULTIIO_3V3 ADC_12 // At ADC-Mxxx //#define ADC_MULTIIO_3V3 ADC_4 // At ADC-M256 /*****************************************************************************/ // Touch Sensor (with NE555): #define ADC_MULTIIO_TOUCH ADC_8 // At ADC-Mxxx //#define ADC_MULTIIO_TOUCH ADC_5 // At ADC-M256 #define ADCVAL_NOTOUCH 15 #define ADCVAL_TOUCH 1020 #define ADCVAL_LIMIT_T ((ADCVAL_TOUCH - ADCVAL_NOTOUCH) / 2 + ADCVAL_NOTOUCH) /*****************************************************************************/ // Buttons: #define ADC_MULTIIO_BUTTONS ADC_11 // At ADC-Mxxx #define ADCVAL_BUTTON1 14 #define ADCVAL_BUTTON2 577 #define ADCVAL_BUTTON3 736 #define ADCVAL_BUTTON4 812 #define ADCVAL_LIMIT12 ((ADCVAL_BUTTON2 - ADCVAL_BUTTON1) / 2 + ADCVAL_BUTTON1) #define ADCVAL_LIMIT23 ((ADCVAL_BUTTON3 - ADCVAL_BUTTON2) / 2 + ADCVAL_BUTTON2) #define ADCVAL_LIMIT34 ((ADCVAL_BUTTON4 - ADCVAL_BUTTON3) / 2 + ADCVAL_BUTTON3) #define ADCVAL_LIMIT40 ((1023 - ADCVAL_BUTTON4) / 2 + ADCVAL_BUTTON4) /*****************************************************************************/ // LEDs: // (Status LED1..LED4 are connected to LED15..LED12 of the PCA9685!) #define CHLED1 16 #define CHLED2 15 #define CHLED3 14 #define CHLED4 13 /*****************************************************************************/ // Buzzer: // (This library assumes that the buzzer is connected to OC2A_PI4 (PB4). // This is the case, if you connect IO-Mxxx with IO_PWM/T2/T3 of the M256. // // Possible connections of the buzzer on the MultiIO Project Board: // // M256 plug: Portpin name: Portpin: // IO_PWM/T2/T3 OC2A_PI4 PB4 <== Default of THIS library! // IO_PWM/T0/T1 IO_OC0B PG5 // UART_SPI1/T5 IO_PL3_OC5A PL3 // UART_SPI2/T4 IO_PH5_OC4C PH5 // // You may of course use one of the other portpins (PG5, PL3, PH5) for the // buzzer, but then you will have to write your own buzzer functions!!! // Attention: Timer/Counter0 is used by the RP6M256 library, so you may NOT // use IO_OC0B (PG5) with hardware PWM!) /*****************************************************************************/ // Other ADC channel definitions: // (Depending on jumper settings on the MultiIO Project Board!) #define ADC_MULTIIO_LDR2 ADC_0 // At ADC-M256 #define ADC_MULTIIO_LDR1 ADC_1 // At ADC-M256 #define ADC_MULTIIO_LFS_R1 ADC_2 // At ADC-M256 #define ADC_MULTIIO_LFS_L1 ADC_3 // At ADC-M256 #define ADC_MULTIIO_SHARP_L ADC_4 // At ADC-M256 #define ADC_MULTIIO_SHARP_R ADC_5 // At ADC-M256 #define ADC_MULTIIO_SNAKE_R ADC_6 // At ADC-M256 #define ADC_MULTIIO_SNAKE_L ADC_7 // At ADC-M256 #define ADC_MULTIIO_LFS_L ADC_8 // At ADC-Mxxx #define ADC_MULTIIO_LFS_M ADC_9 // At ADC-Mxxx #define ADC_MULTIIO_LFS_R ADC_10 // At ADC-Mxxx // Other IO portpin definitions: // (Bumper/LEDs in-/outputs at the ADC-Mxxx plug!) #define IO_MULTIIO_BUMPER_R_IN IO_PE2_XCK0_AIN0 // At ADC-Mxxx #define IO_MULTIIO_BUMPER_R_DDR DDRE #define IO_MULTIIO_BUMPER_R_PIN PINE #define IO_MULTIIO_BUMPER_R_PORT PORTE #define IO_MULTIIO_BUMPER_L_IN IO_PE3_OC3A_AIN1 // At ADC-Mxxx #define IO_MULTIIO_BUMPER_L_DDR DDRE #define IO_MULTIIO_BUMPER_L_PIN PINE #define IO_MULTIIO_BUMPER_L_PORT PORTE // Other IO portpin definitions: // (Depending on the IO-Mxxx plug connection. Default: IO_PWM/T2/T3!) #define IO_MULTIIO_LFS_PWR_IN IO_PE4_OC3B_I4 // IO-Mxxx: IO_PWM/T2/T3 #define IO_MULTIIO_LFS_PWR_DDR DDRE #define IO_MULTIIO_LFS_PWR_PORT PORTE //#define IO_MULTIIO_LFS_PWR_IN OC1B_PI6 // IO-Mxxx: IO_PWM/T0/T1 //#define IO_MULTIIO_LFS_PWR_DDR DDRB //#define IO_MULTIIO_LFS_PWR_PORT PORTB //#define IO_MULTIIO_LFS_PWR_IN IO_PL4_OC5B // IO-Mxxx: UART_SPI1/T5 //#define IO_MULTIIO_LFS_PWR_DDR DDRL //#define IO_MULTIIO_LFS_PWR_PORT PORTL //#define IO_MULTIIO_LFS_PWR_IN IO_PH3_OC4A // IO-Mxxx: UART_SPI2/T4 //#define IO_MULTIIO_LFS_PWR_DDR DDRH //#define IO_MULTIIO_LFS_PWR_PORT PORTH #define IO_MULTIIO_SHARPS_PWR_IN IO_PE6_T3_I6 // IO-Mxxx: IO_PWM/T2/T3 #define IO_MULTIIO_SHARPS_PWR_DDR DDRE #define IO_MULTIIO_SHARPS_PWR_PORT PORTE //#define IO_MULTIIO_SHARPS_PWR_IN IO_PD6_T1 // IO-Mxxx: IO_PWM/T0/T1 //#define IO_MULTIIO_SHARPS_PWR_DDR DDRD //#define IO_MULTIIO_SHARPS_PWR_PORT PORTD //#define IO_MULTIIO_SHARPS_PWR_IN IO_PL2_T5 // IO-Mxxx: UART_SPI1/T5 //#define IO_MULTIIO_SHARPS_PWR_DDR DDRL //#define IO_MULTIIO_SHARPS_PWR_PORT PORTL //#define IO_MULTIIO_SHARPS_PWR_IN IO_PH7_T4 // IO-Mxxx: UART_SPI2/T4 //#define IO_MULTIIO_SHARPS_PWR_DDR DDRH //#define IO_MULTIIO_SHARPS_PWR_PORT PORTH #define IO_MULTIIO_SNAKE_SWITCH_IN IO_PE5_OC3C_I5 // IO-Mxxx: IO_PWM/T2/T3 #define IO_MULTIIO_SNAKE_SWITCH_DDR DDRE #define IO_MULTIIO_SNAKE_SWITCH_PORT PORTE //#define IO_MULTIIO_SNAKE_SWITCH_IN OC0A_OCM_PI7 // IO-Mxxx: IO_PWM/T0/T1 //#define IO_MULTIIO_SNAKE_SWITCH_DDR DDRB //#define IO_MULTIIO_SNAKE_SWITCH_PORT PORTB //#define IO_MULTIIO_SNAKE_SWITCH_IN IO_PD5_XCK1 // IO-Mxxx: UART_SPI1/T5 //#define IO_MULTIIO_SNAKE_SWITCH_DDR DDRD //#define IO_MULTIIO_SNAKE_SWITCH_PORT PORTD //#define IO_MULTIIO_SNAKE_SWITCH_IN IO_PH2_XCK2 // IO-Mxxx: UART_SPI2/T4 //#define IO_MULTIIO_SNAKE_SWITCH_DDR DDRH //#define IO_MULTIIO_SNAKE_SWITCH_PORT PORTH #define IO_MULTIIO_SNAKE_KEY_IN IO_PH6_OC2B // IO-Mxxx: IO_PWM/T2/T3 #define IO_MULTIIO_SNAKE_KEY_DDR DDRH #define IO_MULTIIO_SNAKE_KEY_PIN PINH //#define IO_MULTIIO_SNAKE_KEY_IN OC1A_PI5 // IO-Mxxx: IO_PWM/T0/T1 //#define IO_MULTIIO_SNAKE_KEY_DDR DDRB //#define IO_MULTIIO_SNAKE_KEY_PIN PINB //#define IO_MULTIIO_SNAKE_KEY_IN IO_PL5_OC5C // IO-Mxxx: UART_SPI1/T5 //#define IO_MULTIIO_SNAKE_KEY_DDR DDRL //#define IO_MULTIIO_SNAKE_KEY_PIN PINL //#define IO_MULTIIO_SNAKE_KEY_IN IO_PH4_OC4B // IO-Mxxx: UART_SPI2/T4 //#define IO_MULTIIO_SNAKE_KEY_DDR DDRH //#define IO_MULTIIO_SNAKE_KEY_PIN PINH #define IO_MULTIIO_DCF77_IN IO_PE7_ICP3_I7 // IO-Mxxx: IO_PWM/T2/T3 #define IO_MULTIIO_DCF77_DDR DDRE #define IO_MULTIIO_DCF77_PIN PINE //#define IO_MULTIIO_DCF77_IN IO_PD4_ICP1 // IO-Mxxx: IO_PWM/T0/T1 //#define IO_MULTIIO_DCF77_DDR DDRD //#define IO_MULTIIO_DCF77_PIN PIND //#define IO_MULTIIO_DCF77_IN IO_PL1_ICP5 // IO-Mxxx: UART_SPI1/T5 //#define IO_MULTIIO_DCF77_DDR DDRL //#define IO_MULTIIO_DCF77_PIN PINL //#define IO_MULTIIO_DCF77_IN IO_PL0_ICP4 // IO-Mxxx: UART_SPI2/T4 //#define IO_MULTIIO_DCF77_DDR DDRL //#define IO_MULTIIO_DCF77_PIN PINL /*****************************************************************************/ #endif /****************************************************************************** * Additional info * **************************************************************************** * Changelog: * * ---> changes are documented in the file "RP6M256_MultiIOLib.c" * * **************************************************************************** */ /*****************************************************************************/ // EOF
Library Header
Datei RP6M256_MultiIOLib.h:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples
* ****************************************************************************
* Example: RP6M256 MultiIO Library
* Author(s): Dirk
* ****************************************************************************
* Description:
* Header file for new MultiIO Project Board library.
*
* ****************************************************************************
*/
#ifndef RP6M256_MULTIIOLIB_H
#define RP6M256_MULTIIOLIB_H
/*****************************************************************************/
// MultiIO hardwired components:
// - I2C Voltage & Current Sensor (LTC2990)
// - I2C Real Time Clock (RTC DS1307Z)
// - I2C Temperature Sensor (TCN75A)
// - I2C Servo Controller (PCA9685)
// - I2C EEPROM (24LCXXX)
// - 3V3 Voltage Sensor
// - Touch Sensor (with NE555)
// - Buttons
// - LEDs
// - Buzzer
/*****************************************************************************/
// Includes:
#include "RP6M256Lib.h"
#include "RP6I2CmasterTWI.h"
#include "RP6M256_MultiIO.h"
/*****************************************************************************/
// I2C Voltage & Current Sensor (LTC2990):
// Registers:
#define LTC2990_STATUS 0
#define LTC2990_CONTROL 1
#define LTC2990_TRIGGER 2
#define LTC2990_TINT_MSB 4
#define LTC2990_TINT_LSB 5
#define LTC2990_V1_MSB 6
#define LTC2990_V1_LSB 7
#define LTC2990_V2_MSB 8
#define LTC2990_V2_LSB 9
#define LTC2990_V3_MSB 10
#define LTC2990_V3_LSB 11
#define LTC2990_V4_MSB 12
#define LTC2990_V4_LSB 13
#define LTC2990_VCC_MSB 14
#define LTC2990_VCC_LSB 15
// Status register bitmasks:
#define LTC2990_STATUS_DEFAULT 0
#define LTC2990_STATUS_BUSY 1
#define LTC2990_STATUS_TINT_READY 2
#define LTC2990_STATUS_V1V2_READY 4
#define LTC2990_STATUS_V2_READY 8
#define LTC2990_STATUS_V3V4_READY 16
#define LTC2990_STATUS_V4_READY 32
#define LTC2990_STATUS_VCC_READY 64
// Control register bitmasks:
#define LTC2990_CONTROL_DEFAULT 0
#define LTC2990_CONTROL_MULTIIO 0b01011010 // Mode V1-V2, V3, V4
// All measurements per mode
// Single acquisition
#define LTC2990_CONTROL_MODE02_DEFAULT 0
#define LTC2990_CONTROL_MODE34_DEFAULT 0
#define LTC2990_CONTROL_REPEAT_SINGLE 64
#define LTC2990_CONTROL_TEMP_FORMAT 128
extern double tint;
extern double cbat;
extern double vbat;
extern double vservo;
extern double vcc;
void LTC2990_write_cfg(uint8_t);
#define LTC2990_init() {LTC2990_write_cfg(LTC2990_CONTROL_MULTIIO);}
void LTC2990_run(void);
void LTC2990_read(void);
void LTC2990_calculate(void);
void LTC2990_measure(void);
/*****************************************************************************/
// I2C Real Time Clock (RTC DS1307Z):
// Registers:
#define DS1307_SECONDS 0
#define DS1307_MINUTES 1
#define DS1307_HOURS 2
#define DS1307_DAY 3
#define DS1307_DATE 4
#define DS1307_MONTH 5
#define DS1307_YEAR 6
#define DS1307_CONTROL 7
#define DS1307_RAM 8
// Control register bitmasks:
#define DS1307_CONTROL_DEFAULT 0
#define DS1307_CONTROL_RS0 1
#define DS1307_CONTROL_RS1 2
#define DS1307_CONTROL_SQWE 16
#define DS1307_CONTROL_OUT 128
enum RTCWEEKDAYS {
R_MO = 1, R_TU, R_WE, R_TH, R_FR, R_SA, R_SU
};
typedef struct {
uint16_t year; // Year
uint8_t month; // Month [1..12]
enum RTCWEEKDAYS weekday; // Weekday [1..7 = R_MO..R_SU]
uint8_t day; // Day [1..31]
} rtcdate_t;
rtcdate_t rtc_date;
typedef struct {
uint8_t dst; // Daylight-saving-time (time zone)
uint8_t hour; // Hour [0..23]
uint8_t minute; // Minute [0..59]
uint8_t second; // Second [0..59]
} rtctime_t;
rtctime_t rtc_time;
uint8_t BCD2DEC(uint8_t);
uint8_t DEC2BCD(uint8_t);
void DS1307_write_cfg(uint8_t);
void DS1307_init(void);
#define CALC_DST // Time zone will be calculated
void DS1307_read(void);
void DS1307_write(void);
uint8_t DS1307_readRAM(uint8_t);
void DS1307_writeRAM(uint8_t, uint8_t);
/*****************************************************************************/
// I2C Temperature Sensor (TCN75A):
// Registers:
#define TCN75_TEMP 0
#define TCN75_CONFIG 1
#define TCN75_HYST 2
#define TCN75_LIMIT 3
// Config register bitmasks:
#define TCN75_CONFIG_RUN 0 // Default
#define TCN75_CONFIG_SHUTDOWN 1
#define TCN75_CONFIG_COMP 0 // Default
#define TCN75_CONFIG_INT 2
#define TCN75_CONFIG_ALERT_LOW 0 // Default
#define TCN75_CONFIG_ALERT_HIGH 4
#define TCN75_CONFIG_FAULT_1 0 // Default
#define TCN75_CONFIG_FAULT_2 8
#define TCN75_CONFIG_FAULT_4 16
#define TCN75_CONFIG_FAULT_6 24
// Only for the TCN75A - high resolution and OneShot mode:
#define TCN75A_CONFIG_RES_9 0 // Default
#define TCN75A_CONFIG_RES_10 32 // 0b00100000
#define TCN75A_CONFIG_RES_11 64 // 0b01000000
#define TCN75A_CONFIG_RES_12 96 // 0b01100000
#define TCN75A_CONFIG_ONESHOT_DISABLED 0 // Default
#define TCN75A_CONFIG_ONESHOT 128 // 0b10000000
extern double temperature;
void TCN75_write_cfg(uint8_t);
#define TCN75_shutdown() {TCN75_write_cfg(TCN75_CONFIG_SHUTDOWN);}
#define TCN75_run(__CONFIG__) {TCN75_write_cfg(__CONFIG__);}
extern uint8_t temperature_low;
extern uint8_t temperature_high;
#define getTemperatureHigh() (temperature_high)
#define getTemperatureLow() (temperature_low)
void TCN75_read(void);
double TCN75_calculate(void);
double TCN75_measure(void);
/*****************************************************************************/
// I2C Servo Controller (PCA9685):
// Registers:
#define PCA9685_MODE1 0
#define PCA9685_MODE2 1
#define PCA9685_SUBADR1 2
#define PCA9685_SUBADR2 3
#define PCA9685_SUBADR3 4
#define PCA9685_ALLCALLADR 5
#define PCA9685_LED0_ON_L 6
#define PCA9685_LED0_ON_H 7
#define PCA9685_LED0_OFF_L 8
#define PCA9685_LED0_OFF_H 9
#define PCA9685_LED1_ON_L 10
#define PCA9685_LED1_ON_H 11
#define PCA9685_LED1_OFF_L 12
#define PCA9685_LED1_OFF_H 13
#define PCA9685_LED2_ON_L 14
#define PCA9685_LED2_ON_H 15
#define PCA9685_LED2_OFF_L 16
#define PCA9685_LED2_OFF_H 17
#define PCA9685_LED3_ON_L 18
#define PCA9685_LED3_ON_H 19
#define PCA9685_LED3_OFF_L 20
#define PCA9685_LED3_OFF_H 21
#define PCA9685_LED4_ON_L 22
#define PCA9685_LED4_ON_H 23
#define PCA9685_LED4_OFF_L 24
#define PCA9685_LED4_OFF_H 25
#define PCA9685_LED5_ON_L 26
#define PCA9685_LED5_ON_H 27
#define PCA9685_LED5_OFF_L 28
#define PCA9685_LED5_OFF_H 29
#define PCA9685_LED6_ON_L 30
#define PCA9685_LED6_ON_H 31
#define PCA9685_LED6_OFF_L 32
#define PCA9685_LED6_OFF_H 33
#define PCA9685_LED7_ON_L 34
#define PCA9685_LED7_ON_H 35
#define PCA9685_LED7_OFF_L 36
#define PCA9685_LED7_OFF_H 37
#define PCA9685_LED8_ON_L 38
#define PCA9685_LED8_ON_H 39
#define PCA9685_LED8_OFF_L 40
#define PCA9685_LED8_OFF_H 41
#define PCA9685_LED9_ON_L 42
#define PCA9685_LED9_ON_H 43
#define PCA9685_LED9_OFF_L 44
#define PCA9685_LED9_OFF_H 45
#define PCA9685_LED10_ON_L 46
#define PCA9685_LED10_ON_H 47
#define PCA9685_LED10_OFF_L 48
#define PCA9685_LED10_OFF_H 49
#define PCA9685_LED11_ON_L 50
#define PCA9685_LED11_ON_H 51
#define PCA9685_LED11_OFF_L 52
#define PCA9685_LED11_OFF_H 53
#define PCA9685_LED12_ON_L 54
#define PCA9685_LED12_ON_H 55
#define PCA9685_LED12_OFF_L 56
#define PCA9685_LED12_OFF_H 57
#define PCA9685_LED13_ON_L 58
#define PCA9685_LED13_ON_H 59
#define PCA9685_LED13_OFF_L 60
#define PCA9685_LED13_OFF_H 61
#define PCA9685_LED14_ON_L 62
#define PCA9685_LED14_ON_H 63
#define PCA9685_LED14_OFF_L 64
#define PCA9685_LED14_OFF_H 65
#define PCA9685_LED15_ON_L 66
#define PCA9685_LED15_ON_H 67
#define PCA9685_LED15_OFF_L 68
#define PCA9685_LED15_OFF_H 69
#define PCA9685_ALL_LED_ON_L 250
#define PCA9685_ALL_LED_ON_H 251
#define PCA9685_ALL_LED_OFF_L 252
#define PCA9685_ALL_LED_OFF_H 253
#define PCA9685_PRE_SCALE 254
#define PCA9685_TESTMODE 255
// Mode1 register bitmasks:
#define PCA9685_MODE1_ALLCALL 1
#define PCA9685_MODE1_SUB3 2
#define PCA9685_MODE1_SUB2 4
#define PCA9685_MODE1_SUB1 8
#define PCA9685_MODE1_SLEEP 16
#define PCA9685_MODE1_AI 32
#define PCA9685_MODE1_EXTCLK 64
#define PCA9685_MODE1_RESTART 128
// Mode2 register bitmasks:
#define PCA9685_MODE2_OUTNE01_DEFAULT 0
#define PCA9685_MODE2_OUTDRV 4
#define PCA9685_MODE2_OCH 8
#define PCA9685_MODE2_INVRT 16
#define F_PCA9685 25000000.0 // Int. Clock: 25 MHz
void PCA9685_init(uint16_t);
#define initServo(__FREQ__) {PCA9685_init(__FREQ__);}
void PCA9685_set(uint8_t, uint16_t);
#define setServo(__SERVO__,__POS__) {PCA9685_set(__SERVO__,__POS__);}
void PCA9685_shutdown(void);
void PCA9685_restart(void);
void setServoPower(uint8_t);
/*****************************************************************************/
// I2C EEPROM (24LCXXX):
uint8_t I2C_EEPROM_readByte(uint16_t memAddr);
void I2C_EEPROM_writeByte(uint16_t memAddr, uint8_t data);
void I2C_EEPROM_readBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length);
void I2C_EEPROM_writeBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length);
/*****************************************************************************/
// 3V3 Voltage Sensor:
extern uint16_t adc3v3;
extern double v3v3;
uint16_t get3V3Sensor(void);
double calculate3V3(void);
double measure3V3(void);
/*****************************************************************************/
// Touch Sensor (with NE555):
extern uint16_t adcTouch;
extern uint8_t touch;
uint8_t getTouch(void);
/*****************************************************************************/
// Buttons:
extern uint16_t adcButtons;
extern uint8_t releasedButtonNumber;
extern uint8_t pressedButtonNumber;
uint8_t getPressedButtonNumber(void);
uint8_t checkPressedButtonEvent(void);
uint8_t checkReleasedButtonEvent(void);
/*****************************************************************************/
// LEDs:
void setMultiIOLEDs(uint8_t leds);
void dimMultiIOLED(uint8_t led, uint16_t duty);
void setMultiIOLED1(uint8_t led);
void setMultiIOLED2(uint8_t led);
void setMultiIOLED3(uint8_t led);
void setMultiIOLED4(uint8_t led);
/*****************************************************************************/
// Buzzer:
// Define tone frequencies (well temperament):
// Great Octave
#define Tone_H 2 // 123Hz
// Small Octave
#define Tone_c 16 // 131Hz
#define Tone_cis 30 // 139Hz
#define Tone_d 42 // 147Hz
#define Tone_dis 54 // 156Hz
#define Tone_e 65 // 165Hz
#define Tone_f 76 // 175Hz
#define Tone_fis 86 // 185Hz
#define Tone_g 96 // 196Hz
#define Tone_gis 105 // 208Hz
#define Tone_a 113 // 220Hz
#define Tone_ais 121 // 233Hz
#define Tone_h 128 // 247Hz
// ' Octave
#define Tone_C1 136 // 262Hz
#define Tone_Cis1 142 // 277Hz
#define Tone_D1 149 // 294Hz
#define Tone_Dis1 155 // 311Hz
#define Tone_E1 160 // 330Hz
#define Tone_F1 166 // 349Hz
#define Tone_Fis1 171 // 370Hz
#define Tone_G1 175 // 392Hz
#define Tone_Gis1 180 // 415Hz
#define Tone_A1 184 // 440Hz
#define Tone_Ais1 188 // 466Hz
#define Tone_H1 192 // 494Hz
// '' Octave
#define Tone_C2 195 // 523Hz
#define Tone_Cis2 199 // 554Hz
#define Tone_D2 202 // 587Hz
#define Tone_Dis2 205 // 622Hz
#define Tone_E2 208 // 659Hz
#define Tone_F2 210 // 698Hz
#define Tone_Fis2 213 // 740Hz
#define Tone_G2 215 // 784Hz
#define Tone_Gis2 217 // 831Hz
#define Tone_A2 219 // 880Hz
#define Tone_Ais2 221 // 932Hz
#define Tone_H2 223 // 988Hz
// ''' Octave
#define Tone_C3 225 // 1047Hz
#define Tone_Cis3 227 // 1109Hz
#define Tone_D3 228 // 1175Hz
#define Tone_Dis3 230 // 1245Hz
#define Tone_E3 231 // 1319Hz
#define Tone_F3 233 // 1397Hz
#define Tone_Fis3 234 // 1480Hz
#define Tone_G3 235 // 1568Hz
#define Tone_Gis3 236 // 1661Hz
#define Tone_A3 237 // 1760Hz
#define Tone_Ais3 238 // 1865Hz
#define Tone_H3 239 // 1976Hz
// '''' Octave
#define Tone_C4 240 // 2093Hz
#define Tone_Cis4 241 // 2217Hz
#define Tone_D4 242 // 2349Hz
#define Tone_Dis4 242 // 2489Hz
#define Tone_E4 243 // 2637Hz
#define Tone_F4 244 // 2794Hz
#define Tone_Fis4 244 // 2960Hz
#define Tone_G4 245 // 3136Hz
#define Tone_Gis4 246 // 3322Hz
#define Tone_A4 246 // 3520Hz
#define Tone_Ais4 247 // 3729Hz
#define Tone_H4 247 // 3951Hz
// ''''' Octave
#define Tone_C5 248 // 4186Hz
void Buzzer_init(void);
void setBuzzerPitch(uint8_t);
void soundBuzzer(uint8_t, uint16_t, uint16_t);
#define buzzer(__PITCH__,__TIME__) {soundBuzzer(__PITCH__,__TIME__,0);}
/*****************************************************************************/
// MultiIO Project Board initialisation and shutdown:
void multiio_init(void);
void multiio_shutdown(void);
/*****************************************************************************/
#endif
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
*
* ---> changes are documented in the file "RP6M256_MultiIOLib.c"
*
* ****************************************************************************
*/
/*****************************************************************************/
// EOF
Library Source
Datei RP6M256_MultiIOLib.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples
* ****************************************************************************
* Example: RP6M256 MultiIO Library
* Author(s): Dirk
* ****************************************************************************
* Description:
*
* This is our new Library that contains basic routines and functions for
* accessing the hardwired components of the MultiIO Project Board.
*
* There are much more sensors, that may be connected to the MultiIO Project
* Board: Line following sensors (5x CNY70), bumpers, "Snake Vision board",
* LDRs, I2C air pressure sensor, I2C humidity sensor, DCF77 module,
* I2C IMU, I2C ultrasonic distance sensors, GPS module and more
* sensors connected to free ADCs and IOs and to the I2C bus.
* This library doesn't contain functions for these sensors, because they are
* not HARDWIRED to the MultiIO Project Board and may be connected OPTIONALLY.
*
* ****************************************************************************
*/
/*****************************************************************************/
// MultiIO hardwired components:
// - I2C Voltage & Current Sensor (LTC2990)
// - I2C Real Time Clock (RTC DS1307Z)
// - I2C Temperature Sensor (TCN75A)
// - I2C Servo Controller (PCA9685)
// - I2C EEPROM (24LCXXX)
// - 3V3 Voltage Sensor
// - Touch Sensor (with NE555)
// - Buttons
// - LEDs
// - Buzzer
/*****************************************************************************/
// Includes:
#include "RP6M256_MultiIOLib.h"
/*****************************************************************************/
// Variables:
uint8_t registerBuf[13];
/*****************************************************************************/
// I2C Voltage & Current Sensor (LTC2990):
/**
* Sends the configuration byte to a LTC2990.
*
* Input: Config byte for control register
*
* There is also a macro LTC2990_init(), which
* initializes the sensor to work in V1-V2, V3,
* V4 and Single Acquisition mode.
*
* Example:
* LTC2990_init();
*
*/
void LTC2990_write_cfg(uint8_t config)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_VCS_ADR, LTC2990_CONTROL, config);
}
uint8_t vcs_tint_low;
uint8_t vcs_tint_high;
uint8_t vcs_v1_low;
uint8_t vcs_v1_high;
uint8_t vcs_v2_low;
uint8_t vcs_v2_high;
uint8_t vcs_v3_low;
uint8_t vcs_v3_high;
uint8_t vcs_v4_low;
uint8_t vcs_v4_high;
uint8_t vcs_vcc_low;
uint8_t vcs_vcc_high;
/**
* Starts a Single Acquisition measurement.
*/
void LTC2990_run(void)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_VCS_ADR, LTC2990_TRIGGER, 0);
}
/**
* Reads all data registers of the voltage & current
* sensor (VCS).
* They are stored in the variables defined above.
*/
void LTC2990_read(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_VCS_ADR, LTC2990_TINT_MSB);
I2CTWI_readBytes(I2C_MULTIIO_VCS_ADR, registerBuf, 12);
vcs_tint_high = registerBuf[0];
vcs_tint_low = registerBuf[1];
vcs_v1_high = registerBuf[2];
vcs_v1_low = registerBuf[3];
vcs_v2_high = registerBuf[4];
vcs_v2_low = registerBuf[5];
vcs_v3_high = registerBuf[6];
vcs_v3_low = registerBuf[7];
vcs_v4_high = registerBuf[8];
vcs_v4_low = registerBuf[9];
vcs_vcc_high = registerBuf[10];
vcs_vcc_low = registerBuf[11];
}
double tint; // Internal temperature
double cbat; // Current at 9V
double vbat; // Battery voltage 9V (BAT)
double vservo; // Servo voltage 5 .. 7.5V
double vcc; // Voltage 5V (VCC)
/**
* Calculates the temperature, voltage and current
* values by using the data read from the LTC2990
* with the function LTC2990_read(). The sensor is
* configured to work in V1-V2, V3, V4 and Single
* Acquisition mode.
* The result is stored in the double variables
* defined above.
*/
void LTC2990_calculate(void)
{
int16_t tmp;
double v2;
tmp = (((vcs_tint_high & 0x1f) << 8) + vcs_tint_low) << 3;
tmp = tmp / 8;
tint = tmp / 16.0; // Internal temperature [°C]
tmp = (((vcs_v2_high & 0x7f) << 8) + vcs_v2_low) << 1;
tmp = tmp / 2;
v2 = tmp * 0.01942;
v2 *= C_ADJUST; // Current adjust factor
cbat = v2 / SHUNT_R + C_OFFSET; // Battery current [mA]
tmp = ((vcs_v3_high & 0x3f) << 8) + vcs_v3_low;
vbat = tmp * 0.00030518; // Battery voltage [V]
vbat *= VBAT_ADJUST; // Voltage divider factor
tmp = ((vcs_v4_high & 0x3f) << 8) + vcs_v4_low;
vservo = tmp * 0.00030518; // Servo voltage [V]
vservo *= VSERVO_ADJUST; // Voltage divider factor
tmp = ((vcs_vcc_high & 0x3f) << 8) + vcs_vcc_low;
vcc = 2.5 + tmp * 0.00030518; // VCC [V]
}
/**
* Performs a complete measurement with the sensor
* configured to work in V1-V2, V3, V4 and Single
* Acquisition mode.
* The result is stored in the double variables
* defined above.
* This function is BLOCKING for about 200 ms!
* If you don't want a blocking measurement, you
* have to write your own function with a non
* blocking pause between starting measurement
* and reading the result or with another mode
* of operation (Repeated Acquisitions).
*/
void LTC2990_measure(void)
{
LTC2990_run(); // Start measurement
mSleep(200);
LTC2990_read(); // Read data
LTC2990_calculate(); // Calculate values
}
/*****************************************************************************/
// I2C Real Time Clock (RTC DS1307Z):
/**
* This function converts a BCD to a DEC value.
*
*/
uint8_t BCD2DEC(uint8_t bcd)
{
return ((bcd >> 4) * 10 + (bcd & 0x0f));
}
/**
* This function converts a DEC to a BCD value.
*
*/
uint8_t DEC2BCD(uint8_t dec)
{uint8_t units = dec % 10;
if (dec /= 10) {
return (units + (DEC2BCD(dec) << 4));
}
else {
return units;
}
}
/**
* Sends the configuration byte to a DS1307.
*
* Input: Config byte for control register
*
*/
void DS1307_write_cfg(uint8_t config)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_RTC_ADR, DS1307_CONTROL, config);
}
/**
* Initializes the DS1307 by resetting all registers.
* Only use this function ONCE for a DS1307 without or
* with empty backup battery!
*/
void DS1307_init(void)
{
uint8_t i;
for (i = 0; i < 8; i++) {
registerBuf[i] = 0;
}
I2CTWI_transmitBytes(I2C_MULTIIO_RTC_ADR, ®isterBuf[0], 8);
}
/**
* Reads all data registers of the Real Time Clock (RTC).
* They are stored in the time & date variables defined in
* the library header.
*/
void DS1307_read(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_RTC_ADR, DS1307_SECONDS);
I2CTWI_readBytes(I2C_MULTIIO_RTC_ADR, registerBuf, 7);
rtc_time.second = BCD2DEC(registerBuf[0] & 0x7f);
rtc_time.minute = BCD2DEC(registerBuf[1]);
rtc_time.hour = BCD2DEC(registerBuf[2] & 0x3f);
rtc_date.weekday = registerBuf[3];
rtc_date.day = BCD2DEC(registerBuf[4]);
rtc_date.month = BCD2DEC(registerBuf[5]);
rtc_date.year = BCD2DEC(registerBuf[6]) + 2000;
rtc_time.dst = 0;
#ifdef CALC_DST
// Calculate MESZ (DST):
uint8_t wday = rtc_date.weekday; // Weekday [1..7 = R_MO..R_SU]
if(wday == 7) wday = 0;
if(rtc_date.month < 3 || rtc_date.month > 10) {
return;
}
if((rtc_date.day - wday >= 25)
&& (wday || rtc_time.hour >= 2)) {
if(rtc_date.month == 10)
return;
}
else {
if(rtc_date.month == 3) {
return;
}
}
rtc_time.dst = 1;
#endif
}
/**
* Writes the time & date infos in the variables defined in
* the library header to the Real Time Clock (RTC).
*/
void DS1307_write(void)
{
registerBuf[0] = DS1307_SECONDS;
registerBuf[1] = DEC2BCD(rtc_time.second);
registerBuf[2] = DEC2BCD(rtc_time.minute);
registerBuf[3] = DEC2BCD(rtc_time.hour);
registerBuf[4] = rtc_date.weekday;
registerBuf[5] = DEC2BCD(rtc_date.day);
registerBuf[6] = DEC2BCD(rtc_date.month);
registerBuf[7] = DEC2BCD(rtc_date.year - 2000);
I2CTWI_transmitBytes(I2C_MULTIIO_RTC_ADR, ®isterBuf[0], 8);
}
/**
* Reads and returns a data byte from the DS1307 RAM.
*
* Input: adr -> RAM address [0..55]
*
* Hints: - The real DS1307 RAM addresses are 8..63!
* - The RAM is nonvolatile. That means, that
* it keeps the data as long as the backup
* battery doesn't become weak!
*
*/
uint8_t DS1307_readRAM(uint8_t adr)
{
if (adr > 55) adr = 0;
I2CTWI_transmitByte(I2C_MULTIIO_RTC_ADR, (DS1307_RAM + adr));
return (I2CTWI_readByte(I2C_MULTIIO_RTC_ADR));
}
/**
* Writes a data byte to the DS1307 RAM.
*
* Input: adr -> RAM address [0..55]
* data -> Data byte [0..255]
*
* Hints: - The real DS1307 RAM addresses are 8..63!
* - The RAM is nonvolatile. That means, that
* it keeps the data as long as the backup
* battery doesn't become weak!
*
*/
void DS1307_writeRAM(uint8_t adr, uint8_t data)
{
if (adr > 55) adr = 0;
I2CTWI_transmit2Bytes(I2C_MULTIIO_RTC_ADR, (DS1307_RAM + adr), data);
}
/*****************************************************************************/
// I2C Temperature Sensor (TCN75A):
/**
* Sends the configuration byte to a TCN75A.
*
* Input: Config byte for config register
*
*/
void TCN75_write_cfg(uint8_t config)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_TEMP_ADR, TCN75_CONFIG, config);
}
uint8_t temperature_low;
uint8_t temperature_high;
/**
* Reads the two data registers of the temperature
* sensor.
* They are stored in the variables temperature_low
* and _high.
*
* Hint: Depending on the sensor configuration the
* data are located different in the two bytes
* - have a look at the datasheet!
*
*/
void TCN75_read(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_TEMP_ADR, TCN75_TEMP);
I2CTWI_readBytes(I2C_MULTIIO_TEMP_ADR, registerBuf, 2);
temperature_low = registerBuf[0];
temperature_high = registerBuf[1];
}
double temperature; // Temperature [°C]
/**
* Calculates and returns the temperature value
* by using the data read from the TCN75A with
* the function TCN75_read(). The sensor is
* configured to Single Conversion and 12 bit
* measurement.
*/
double TCN75_calculate(void)
{
uint8_t templow;
double temp;
templow = getTemperatureLow();
if (templow & 128) // Calculate temperature
templow = (templow & 63) - 127;
else
templow = templow & 63;
temp = templow + (0.0625 * (getTemperatureHigh() >> 4));
return temp;
}
/**
* Performs a 12 bit measurement and returns the
* temperature [°C].
* This function is BLOCKING for about 250 ms!
* If you don't want a blocking measurement, you
* have to write your own function with a non
* blocking pause between starting measurement
* and reading the result or with another mode
* of operation (Continuous Conversion).
*/
double TCN75_measure(void)
{
TCN75_run(TCN75A_CONFIG_RES_12); // Start measurement
mSleep(250);
TCN75_shutdown(); // Stop measurement
TCN75_read(); // Read data
return (TCN75_calculate()); // Calculate value
}
/*****************************************************************************/
// I2C Servo Controller (PCA9685):
/**
* Call this once before using the servo function.
*
* Input: PWM frequency [40..1000 Hz]
*
* Hints: - Default servo frequency is 50 Hz!
* - The servo power is NOT switched on by
* this function!
*
* There is also a macro initServo(freq), which
* does exactly the same as this function.
*
* Example:
* initServo(50);
*
*/
void PCA9685_init(uint16_t freq)
{
if ((freq < 40) || (freq > 1000)) freq = 50;
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE2);
uint8_t last_mode = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
last_mode &= ~PCA9685_MODE2_INVRT; // Clear INVRT bit
last_mode |= PCA9685_MODE2_OUTDRV; // Set OUTDRV bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE2, last_mode);
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1);
last_mode = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
last_mode |= PCA9685_MODE1_AI; // Set AI bit
uint8_t mode1 = last_mode;
mode1 |= PCA9685_MODE1_SLEEP; // Set SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
uint8_t prescale = (uint8_t) (F_PCA9685 / 4096 / freq - 0.5);
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_PRE_SCALE, prescale);
last_mode &= ~PCA9685_MODE1_SLEEP; // Clear SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, last_mode);
mSleep(1);
last_mode |= PCA9685_MODE1_RESTART; // Clear RESTART bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, last_mode);
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_LED8_ON_H, 0x10);
return;
}
/**
* This is the servo position set function.
*
* Input: servo -> Servo number [1..8, 10..16]
* pos -> Servo position [SERVOx_LT..SERVOx_RT]
*
* Hints: - Servo number 9 cannot be set by this function!
* Please use setServoPower() function instead!
* - A servo position of 205 means 1 ms servo impulse,
* a position of 410 means a 2 ms servo impulse!
* You may calculate the servo impulse length by:
* ==> Impulse [ms] = servo position / 204.8 <==
* (Formula only valid for a PWM of 50 Hz!)
*
* There is also a macro setServo(servo, pos), which
* does exactly the same as this function.
*
* Example:
* setServo(2,300);
*
*/
void PCA9685_set(uint8_t servo, uint16_t pos)
{
if ((servo == 0) || (servo == CHSERVOPWR) || (servo > 16))
return;
uint8_t reg = servo * 4 + 4; // Register LEDx_OFF_L
I2CTWI_transmit3Bytes(I2C_MULTIIO_SERVO_ADR, reg, (pos & 0x00ff), (pos >> 8));
}
/**
* If the servos are not moving for a while, the
* servo function can be stopped with this
* function (PCA9685 set to sleep mode).
*
* Hint: The servo power is NOT switched off by
* this function!
*
*/
void PCA9685_shutdown(void)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_ALL_LED_OFF_H, 0x10);
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1);
uint8_t mode1 = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
mode1 |= PCA9685_MODE1_SLEEP; // Set SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
}
/**
* If the servo function was stopped with the
* function PCA9685_shutdown() before, it can be
* (re)started again with this function.
*
* Hint: The servo power is NOT switched on by
* this function!
*
*/
void PCA9685_restart(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1);
uint8_t mode1 = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
if (mode1 & PCA9685_MODE1_RESTART) { // RESTART bit set?
mode1 &= ~PCA9685_MODE1_SLEEP; // Clear SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
mSleep(1);
mode1 |= PCA9685_MODE1_RESTART; // Clear RESTART bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_ALL_LED_OFF_H, 0);
}
}
/**
* With this function you can switch the servo
* power on or off, if the servo power jumper on
* the board enables this feature.
*
* Input: pwr -> 0 (false) = servo power off
* >0 (true) = servo power on
*
* Hints: - If connected servos are not used, you
* should always switch the servo power off
* to save energy!
* - The PCA9685 is NOT restarted or put into
* shutdown mode by this function!
*
*/
void setServoPower(uint8_t pwr)
{
if (pwr > 0)
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_LED8_OFF_H, 0);
else
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_LED8_OFF_H, 0x10);
}
/*****************************************************************************/
// I2C EEPROM (24LCXXX):
// The following EEPROM types may be used:
// EEPROM Size: Chip Pagesize
// - 32 kbit: ST24LC32A 32
// - 64 kbit: ST24LC64 32
// - 128 kbit: ST24LC128 64
// - 256 kbit: ST24LC256 64
// - 512 kbit: ST24LC512 128
// - 1024 kbit: AT24LC1024 256
// ! You may choose the EEPROM type in the I2C EEPROM !
// ! section of the RP6M256_MultiIO.h file! !
/**
* Reads a single Byte from the EEPROM.
*/
uint8_t I2C_EEPROM_readByte(uint16_t memAddr)
{
uint8_t data;
I2CTWI_transmit2Bytes(I2C_MULTIIO_EEPROM_ADR, (memAddr >> 8), memAddr);
data = I2CTWI_readByte(I2C_MULTIIO_EEPROM_ADR);
return data;
}
/**
* Write a single data byte to the specified EEPROM address.
*/
void I2C_EEPROM_writeByte(uint16_t memAddr, uint8_t data)
{
I2CTWI_transmit3Bytes(I2C_MULTIIO_EEPROM_ADR, (memAddr >> 8), memAddr, data);
mSleep(5);
}
/**
* Reads "length" Bytes into the Buffer "buffer" from startAddr on.
* You can read the complete EEPROM into a buffer at once - if it is large enough.
* (But you only have 8KB SRAM on a MEGA2560 ;) )
* If "length" is higher than I2CTWI_BUFFER_REC_SIZE defined in RP6I2CmasterTWI.h,
* you have to adapt I2CTWI_BUFFER_REC_SIZE to the highest used "length" value!
*/
void I2C_EEPROM_readBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_EEPROM_ADR, (startAddr >> 8), startAddr);
I2CTWI_readBytes(I2C_MULTIIO_EEPROM_ADR, &buffer[0], length);
}
/**
* Write "length" Bytes from the Buffer to the EEPROM.
* YOU CAN ONLY WRITE MAXIMAL [I2C_EEPROM_PAGESIZE] BYTES AT ONCE!!!
* This is the Pagesize!
* You can NOT cross a page boundary!
* If (length + 2) is higher than I2CTWI_BUFFER_SIZE defined in RP6I2CmasterTWI.h,
* you have to adapt I2CTWI_BUFFER_SIZE to the highest used (length + 2) value!
*/
void I2C_EEPROM_writeBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length)
{
uint8_t i, addrbuffer[length + 2];
addrbuffer[0] = (startAddr >> 8);
addrbuffer[1] = startAddr;
for(i = 0; i < length; i++) {
addrbuffer[i + 2] = buffer[i];
}
I2CTWI_transmitBytes(I2C_MULTIIO_EEPROM_ADR, &addrbuffer[0], (length + 2));
mSleep(5);
}
/*****************************************************************************/
// 3V3 Voltage Sensor:
uint16_t adc3v3; // 3V3 voltage sensor ADC value
/**
* This function reads and returns the ADC value of
* the 3V3 voltage sensor. The value is also stored
* in adc3v3.
*
*/
uint16_t get3V3Sensor(void)
{
adc3v3 = readADC(ADC_MULTIIO_3V3);
return adc3v3;
}
double v3v3; // 3V3 voltage [V]
/**
* Calculates and returns the 3.3V voltage value
* by using the data read from the 3V3 voltage
* sensor with the function get3V3Sensor().
*
*/
double calculate3V3(void)
{
return (5.0 / 1024.0 * adc3v3);
}
/**
* Measures and returns the 3.3V voltage value.
* The ADC value of the 3V3 voltage sensor is also
* stored in adc3v3.
*
*/
double measure3V3(void)
{
adc3v3 = readADC(ADC_MULTIIO_3V3);
return (5.0 / 1024.0 * adc3v3);
}
/*****************************************************************************/
// Touch Sensor (with NE555):
uint16_t adcTouch; // Touch sensor ADC value
uint8_t touch = 0; // True (1), if touched
/**
* Checks if the touch sensor antenna is touched - returns 1,
* if touched or 0, if the antenna is NOT touched.
*
*/
uint8_t getTouch(void)
{
adcTouch = readADC(ADC_MULTIIO_TOUCH);
if (adcTouch > ADCVAL_LIMIT_T) return 1;
else return 0;
}
/*****************************************************************************/
// Buttons:
uint16_t adcButtons; // Keypad ADC value
uint8_t releasedButtonNumber; // Released (last pressed) button
uint8_t pressedButtonNumber; // Actually pressed button
/**
* Checks which button is pressed - returns the button number,
* or 0, if no button is pressed.
* Maybe the values of ADCVAL_LIMITxx have to change because
* of variations in the resistors of the keypad! This is done
* in RP6M256_MultiIO.h, if you define other ADC values for
* your 4 buttons in ADCVAL_BUTTON1..ADCVAL_BUTTON4.
*
*/
uint8_t getPressedButtonNumber(void)
{
adcButtons = readADC(ADC_MULTIIO_BUTTONS);
if(adcButtons < 1020) {
nop();
nop();
nop();
adcButtons += readADC(ADC_MULTIIO_BUTTONS);
adcButtons >>= 1;
}
if(adcButtons < ADCVAL_LIMIT12)
return 1;
if(adcButtons < ADCVAL_LIMIT23)
return 2;
if(adcButtons < ADCVAL_LIMIT34)
return 3;
if(adcButtons < ADCVAL_LIMIT40)
return 4;
return 0;
}
/**
* This function has to be called frequently out of the
* main loop and checks if a button is pressed! It only returns
* the button number a single time, DIRECTLY when the button is
* pressed.
*
* This is useful for non-blocking keyboard check in the
* main loop. You don't need something like
* "while(getPressedButtonNumber());" to wait for the button
* to be released again!
*/
uint8_t checkPressedButtonEvent(void)
{
static uint8_t pressed_button = 0;
if(pressed_button) {
if(!getPressedButtonNumber())
pressed_button = 0;
}
else {
pressed_button = getPressedButtonNumber();
if(pressed_button)
return pressed_button;
}
return 0;
}
/**
* This function has to be called frequently out of
* the main loop and checks if a button is pressed AND
* released. It only returns the button number a single
* time, AFTER the button has been released.
*
* This is useful for non-blocking keyboard check in the
* main loop. You don't need something like
* "while(getPressedButtonNumber());" to wait for the button
* to be released again!
*/
uint8_t checkReleasedButtonEvent(void)
{
static uint8_t released_button = 0;
if(released_button) {
if(!getPressedButtonNumber()) {
uint8_t tmp = released_button;
released_button = 0;
return tmp;
}
}
else
released_button = getPressedButtonNumber();
return 0;
}
/*****************************************************************************/
// LEDs:
/**
* Set the 4 status LEDs of the MultiIO.
*
* Example:
* setMultiIOLEDs(0b1010);
* // this clears LEDs 1 and 3
* // and sets LEDs 2 and 4!
*
*/
void setMultiIOLEDs(uint8_t leds)
{
if (leds & 0b00000001) PCA9685_set(CHLED1, 4095);
else PCA9685_set(CHLED1, 0);
if (leds & 0b00000010) PCA9685_set(CHLED2, 4095);
else PCA9685_set(CHLED2, 0);
if (leds & 0b00000100) PCA9685_set(CHLED3, 4095);
else PCA9685_set(CHLED3, 0);
if (leds & 0b00001000) PCA9685_set(CHLED4, 4095);
else PCA9685_set(CHLED4, 0);
}
/**
* Dim the 4 status LEDs of the MultiIO.
*
* Input: led -> LED number [1..4]
* duty -> Duty cycle [0..4095]
*
* Example:
* dimMultiIOLED(2,2048);
* // this dims LED2 with a
* // duty cycle of 50% !
*
*/
void dimMultiIOLED(uint8_t led, uint16_t duty)
{
if (led == 1) PCA9685_set(CHLED1, duty);
if (led == 2) PCA9685_set(CHLED2, duty);
if (led == 3) PCA9685_set(CHLED3, duty);
if (led == 4) PCA9685_set(CHLED4, duty);
}
/**
* Set ONLY LED1, don't change anything for the other LEDs.
*
* Input: led -> 0 (false) = LED off
* >0 (true) = LED on
*
*/
void setMultiIOLED1(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED1, 4095);
else PCA9685_set(CHLED1, 0);
}
/**
* Set ONLY LED2, don't change anything for the other LEDs.
*/
void setMultiIOLED2(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED2, 4095);
else PCA9685_set(CHLED2, 0);
}
/**
* Set ONLY LED3, don't change anything for the other LEDs.
*/
void setMultiIOLED3(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED3, 4095);
else PCA9685_set(CHLED3, 0);
}
/**
* Set ONLY LED4, don't change anything for the other LEDs.
*/
void setMultiIOLED4(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED4, 4095);
else PCA9685_set(CHLED4, 0);
}
/*****************************************************************************/
// Buzzer:
/**
* Call this once before using the buzzer.
*
*/
void Buzzer_init(void)
{
DDRB |= OC2A_PI4; // Portpin: output
TCCR2A = 0;
TCCR2B = 0; // Sound off
PORTB &= ~OC2A_PI4; // Portpin low
}
/**
* This function has no timing stuff. It only sets the pitch
* and this can be used to generate tone sequences which
* would sound bad if the beeper turns of for a very short time
* in between - such as alarm tones or special melodies etc.
*
* Input: pitch -> 0 = sound off
* 1 = lowest frequency
* 255 = higest frequency
*
*/
void setBuzzerPitch(uint8_t pitch)
{
OCR2A = 255 - pitch;
if(pitch) {
TCCR2A = (1 << WGM21) | (1 << COM2A0);
TCCR2B = (1 << CS21) | (1 << CS22);
}
else {
TCCR2A = 0;
TCCR2B = 0; // Normal port operation
PORTB &= ~OC2A_PI4; // Portpin low
}
}
/**
* You can use this function to make the buzzer beep ;)
* This function is BLOCKING and generates a delay for the
* sound and a delay between two sounds.
*
* Input: pitch -> 0 = sound off
* 1 = lowest frequency
* 255 = higest frequency
* time -> sound length [ms]
* delay -> pause after the sound [ms]
*
* Example:
* soundBuzzer(150,50,25);
* soundBuzzer(200,50,25);
*
* There is also a macro buzzer(pitch, time). You may use
* it for sounds without a pause after the sound. The macro
* is BLOCKING during the sound length.
*
* Example:
* buzzer(150,50);
*
*/
void soundBuzzer(uint8_t pitch, uint16_t time, uint16_t delay)
{
setBuzzerPitch(pitch);
if (!pitch) return;
mSleep(time);
setBuzzerPitch(0); // Sound off
if (!delay) return;
mSleep(delay);
}
/*****************************************************************************/
/*****************************************************************************/
// MultiIO Project Board initialisation and shutdown:
/**
* You MUST call this function at the beginning of a
* main program, that uses the MultiIO Project Board.
*
*/
void multiio_init(void)
{
// Voltage & current sensor:
LTC2990_init(); // Init VCS
// Servo Controller:
PCA9685_init(50); // Init PWM 50 Hz
// Servo power:
setServoPower(0); // Servo power off
// Buzzer:
Buzzer_init(); // Init buzzer
}
/**
* If you don't use any function of the MultiIO
* Project Board, you can put the MultiIO into
* "SHUTDOWN MODE". In this mode the electric
* power consumption is very low to save energy.
*
*/
void multiio_shutdown(void)
{
// LEDs:
setMultiIOLEDs(0b0000); // MultiIO LEDs off
// Servo power:
setServoPower(0); // Servo power off
// Servo Controller:
PCA9685_shutdown(); // Shutdown PCA9685
// Temperature Sensor:
TCN75_shutdown(); // Shutdown TCN75A
}
/*****************************************************************************/
/*****************************************************************************/
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 2.2 (shutdown mode added) 28.03.2013 by Dirk
* - v. 2.1 (LTC2990 current bug fixed) 26.03.2013 by Dirk
* - v. 2.0 (release for board V1.0) 17.02.2013 by Dirk
* - v. 1.0 (initial release) 21.01.2013 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
// EOF
Erklärung
Demo
makefile:
... TARGET = RP6M256_MultiIO ... SRC += RP6M256_MultiIOLib.c ...
Datei RP6M256_MultiIO.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples
* ****************************************************************************
* Example: RP6M256 MultiIO
* Author(s): Dirk
* ****************************************************************************
* Description:
* In this example we show a first test for the MultiIO Project Board.
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* You should also connect to it via WIFI.
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6M256Lib.h" // The RP6 M256 Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // Include the I2C-Bus Master Library
/*****************************************************************************/
/*****************************************************************************/
// Include our new "RP6M256 MultiIO library":
// (This is the library for accessing the MultiIO Project Board!)
#include "RP6M256_MultiIOLib.h"
/*****************************************************************************/
/**
* Write a floating point number to the WIFI.
*
* Example:
*
* // Write a floating point number to the WIFI (no exponent):
* writeDouble_WIFI(1234567.890, 11, 3);
*
* The value of prec (precision) defines the number of decimal places.
* For 32 bit floating point variables (float, double ...) 6 is
* the max. value for prec (7 relevant digits).
* The value of width defines the overall number of characters in the
* floating point number including the decimal point. The number of
* pre-decimal positions is: (width - prec - 1).
*/
void writeDouble_WIFI(double number, uint8_t width, uint8_t prec)
{char buffer[width + 1];
dtostrf(number, width, prec, &buffer[0]);
writeString_WIFI(&buffer[0]);
}
/*****************************************************************************/
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
*
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P_WIFI("\nI2C ERROR - TWI STATE: 0x");
writeInteger_WIFI(errorState, HEX);
writeChar_WIFI('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6M256(); // Always call this first! The Processor will not work
// correctly otherwise.
initLCD(); // Initialize the LC-Display (LCD)
// Always call this before using the LCD!
setLEDs(0b1111);
mSleep(500);
setLEDs(0b0000);
writeString_P_WIFI("\n\nRP6M256 Multi IO Selftest 1!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handler:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
// Write a text message to the LCD:
showScreenLCD("################", "################");
mSleep(1500);
showScreenLCD("RP6v2-M256-WIFI ", "Example Program");
mSleep(2500);
showScreenLCD("RP6M256 Multi IO", " Selftest 1");
mSleep(2500);
clearLCD();
setLEDs(0b0000);
// ---------------------------------------
uint8_t onoff = 0;
uint16_t servopos = SERVO1_LT;
startStopwatch1();
// IMPORTANT:
multiio_init(); // MultiIO init!!!
//setServoPower(1); // Servo power ON!
// ----------------------------------------------
// Set RTC once (battery empty or not existing:
rtc_time.second = 0;
rtc_time.minute = 0;
rtc_time.hour = 12; // 12:00
rtc_date.weekday = R_TH;
rtc_date.day = 28;
rtc_date.month = 3;
rtc_date.year = 2013; // Do, 28.3.2013
DS1307_write();
// Remove this, if RTC is set and running!!!
// ----------------------------------------------
// EEPROM test:
writeString_P_WIFI("\nWriting 128 to EEPROM address 5:\n");
I2C_EEPROM_writeByte(5, 128);
mSleep(500);
writeString_P_WIFI("Done!\n");
writeString_P_WIFI("\nReading EEPROM address 5:\n");
uint8_t tmp = I2C_EEPROM_readByte(5);
mSleep(500);
I2C_EEPROM_writeByte(5, 0);
writeString_P_WIFI("Done!\n");
writeString_P_WIFI("EEPROM address 5 content: ");
writeInteger_WIFI(tmp, DEC);
writeString_P_WIFI("\n");
// Buzzer test:
soundBuzzer(Tone_Cis2, 300, 200);
soundBuzzer(Tone_Fis2, 200, 100);
soundBuzzer(Tone_Ais2, 100, 100);
soundBuzzer(Tone_Dis3, 50, 100);
mSleep(1000);
soundBuzzer(Tone_Dis3, 300, 200);
soundBuzzer(Tone_Ais2, 200, 100);
soundBuzzer(Tone_Fis2, 100, 100);
soundBuzzer(Tone_Cis2, 50, 100);
while(true)
{
if(getStopwatch1() > 1000) // 1s
{
if (onoff) onoff = 0;
else onoff = 1;
// Buttons ADC test:
clearLCD();
pressedButtonNumber = getPressedButtonNumber();
setCursorPosLCD(0, 0);
writeStringLCD("Button: ");
writeIntegerLCD(pressedButtonNumber, DEC);
setCursorPosLCD(1, 0);
writeStringLCD("ADC: ");
writeIntegerLCD(adcButtons, DEC);
// 3V3 voltage sensor ADC test:
v3v3 = measure3V3();
writeString_WIFI("\n3V3 Voltage: ");
writeDouble_WIFI(v3v3, 4, 1);
writeString_WIFI("V\nADC 3V3: ");
writeInteger_WIFI(adc3v3, DEC);
// Touch sensor ADC test:
touch = getTouch();
if (touch) writeString_WIFI("\nTOUCHED!!!");
else writeString_WIFI("\nNOT touched.");
writeString_WIFI("\nADC Touch: ");
writeInteger_WIFI(adcTouch, DEC);
// Temperature sensor test:
temperature = TCN75_measure(); // Measure
writeString_WIFI("\nTemperature: ");
writeDouble_WIFI(temperature, 5, 1);
writeString_WIFI("°\n");
// Servo controller test:
// LEDs:
if (onoff) {
setMultiIOLED1(1);
setMultiIOLED2(0);
setMultiIOLED3(0);
setMultiIOLED4(1);
}
else
setMultiIOLEDs(0b0110);
// Servo 1:
setServo(1, servopos);
servopos += 10;
if (servopos > SERVO1_RT) servopos = SERVO1_LT;
// RTC test:
DS1307_read();
writeString_WIFI("RTC: ");
writeIntegerLength_WIFI(rtc_time.hour, DEC, 2);
writeString_WIFI(":");
writeIntegerLength_WIFI(rtc_time.minute, DEC, 2);
writeString_WIFI(":");
writeIntegerLength_WIFI(rtc_time.second, DEC, 2);
writeString_WIFI(" ");
writeIntegerLength_WIFI(rtc_date.day, DEC, 2);
writeString_WIFI(".");
writeIntegerLength_WIFI(rtc_date.month, DEC, 2);
writeString_WIFI(".");
writeIntegerLength_WIFI(rtc_date.year, DEC, 4);
writeString_WIFI("\n");
// Voltage & current sensor test:
LTC2990_measure();
writeString_WIFI("Temperature: ");
writeDouble_WIFI(tint, 5, 1);
writeString_WIFI("°\n");
writeString_WIFI("BAT Current: ");
writeDouble_WIFI(cbat, 6, 1);
writeString_WIFI("mA\nBAT Voltage: ");
writeDouble_WIFI(vbat, 4, 1);
writeString_WIFI( "V\nSERVO Volt.: ");
writeDouble_WIFI(vservo, 4, 1);
writeString_WIFI( "V\nVCC Voltage: ");
writeDouble_WIFI(vcc, 4, 1);
writeString_WIFI("V\n");
// MultiIO shutdown:
if (pressedButtonNumber == 4) {
writeString_WIFI("\nPress button 1 for MultiIO SHUTDOWN");
writeString_WIFI("\nor any other button to continue!!!\n");
do {
mSleep(1);
releasedButtonNumber = checkReleasedButtonEvent();
task_I2CTWI();
} while (!releasedButtonNumber);
if (releasedButtonNumber == 1) {
writeString_WIFI("\nPlease wait for MultiIO SHUTDOWN...\n");
multiio_shutdown();
mSleep(3000);
writeString_WIFI("\nThe MultiIO now is in SHUTDOWN MODE!!!\n");
mSleep(1000);
writeString_WIFI("\nRESET the M256 microcontroller now...\n\n");
while(true) {};
}
}
setStopwatch1(0);
}
task_I2CTWI();
}
return 0;
}
Erklärung
Linienfolger und Bumper Board Library
Diese Avr-gcc Library für das Linienfolger und Bumper (= "LFSBumper") Board des Multi IO Projekts geht von folgenden Voraussetzungen aus:
- Die RP6v2 M256 WiFi Platine (= "M256") wird für die Ansteuerung der MultiIO benutzt.
- Die M256 ist der I2C-Bus Master.
- Die I2C-Bus Geschwindigkeit beträgt 100 kHz.
- Alle Hardware-Komponenten der MultiIO sind aufgebaut (1).
- Alle Jumper auf der MultiIO sind in ihrer Standardstellung (2).
- Die MultiIO und die M256 sind mit dem XBUS des RP6-Systems 1:1 verbunden.
- Der Wannenstecker IO_Mxxx der MultiIO ist mit dem Wannenstecker IO_PWM/T2/T3 der M256 1:1 verbunden.
- Der Wannenstecker ADC_Mxxx der MultiIO ist mit dem Wannenstecker ADC_IO2/CMP der M256 1:1 verbunden.
- Der Wannenstecker ADC_M256 der MultiIO ist mit dem Wannenstecker ADC_IO1 der M256 1:1 verbunden.
- Das LFSBumper Board ist an den Stecker "Bumper" (P_BUMPER) der MultiIO angeschlossen.
Zu (2): Wenn nicht alle Komponenten aufgebaut sind, sind die zugehörigen
Funktionen natürlich nicht funktionsfähig und können nicht benutzt
werden.
Zu (2): Siehe hier!
Die Library (Software-Bibliothek) besteht aus zwei Teilen:
- Dem Library Header -> Hier gibt es Definitionen, Variablen- und Funktionsdeklarationen für die Library.
- Der Library Source -> Das ist die eigentliche Library.
Zusätzlich wird auch der MultiIO Configuration Header eingebunden. Hier stehen alle Definitionen und Festlegungen, die der grundlegenden Konfiguration der MultiIO dienen. Diese Datei kann auf die eigenen Hardware-Voraussetzungen angepaßt werden, ohne dass die eigentliche Library (Header und Source) verändert werden muss.
Library Header
Datei: RP6M256_LFSBumperLib.h:
/* * **************************************************************************** * RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples * **************************************************************************** * Example: RP6M256 LFS Bumper Library * Author(s): Dirk * **************************************************************************** * Description: * Header file for new LFS and Bumper Board library. * * **************************************************************************** */ #ifndef RP6M256_LFSBUMPERLIB_H #define RP6M256_LFSBUMPERLIB_H /*****************************************************************************/ // LFS Board components: // - 3 or 5 reflective optical sensors (CNY70) // Bumper Board components: // - 2 LEDs // - 2 bumpers // - 2 SHARP IR distance sensors (e.g. GP2Y0A02YK) // - 2 SRF02 ultrasonic distance sensors (SRF02) /*****************************************************************************/ // Includes: #include "RP6M256Lib.h" #include "RP6I2CmasterTWI.h" #include "RP6M256_MultiIO.h" /*****************************************************************************/ // Line Following Sensor (LFS) Board: // Define the use of the LFS Board and the number of CNY70s (3 or 5) to be // used here! #define LFS // LFS Board is used #define FIVE_SENSORS // Only, if all 5 CNY70s are used! // --------------------------------------------------------------------------- #define CH_LFS_L 1 #define CH_LFS_M 2 #define CH_LFS_R 3 #define CH_LFS_R1 4 #define CH_LFS_L1 5 #define ADCVAL_BLACKLINE 424 #define ADCVAL_WHITEPAPER 994 #define ADCVAL_LIMIT_BW ((ADCVAL_WHITEPAPER - ADCVAL_BLACKLINE) / 2 + ADCVAL_BLACKLINE) #ifdef LFS void LFS_init(void); uint16_t getLFS(uint8_t channel); void setLFSPower(uint8_t pwr); #endif /*****************************************************************************/ // Bumper Board: // Define the devices that are built up on the Bumper Board here! // Make a comment of a line belonging to a sensor that is NOT built // up on or attached to the Bumper Board! // IMPORTANT: It is only possible to use EITHER SHARP sensors OR SRF02 // sensors on the Bumper Board!!! // But in addition you may connect up to four SRF02 sensors // to the MultiIO Board! #define BUMPERS // Bumpers are used #define SHARP_SENSORS // SHARP IR distance sensors are used #define SRF02_SENSORS // SRF02 ultrasonic sensors are used // --------------------------------------------------------------------------- #define LEFT 1 #define RIGHT 2 // SRF02 sensors (2) on the Bumper Board: #define I2C_MULTIIO_SRF02_L_ADR 0xe0 // Default #define I2C_MULTIIO_SRF02_R_ADR 0xe2 // SRF02 sensors (4) connected to the MultiIO Board: #define I2C_MULTIIO_SRF02_1_ADR 0xe4 #define I2C_MULTIIO_SRF02_2_ADR 0xe6 #define I2C_MULTIIO_SRF02_3_ADR 0xe8 #define I2C_MULTIIO_SRF02_4_ADR 0xea // Other possible SRF02 I2C addresses: //#define I2C_MULTIIO_SRF02_x_ADR 0xec //#define I2C_MULTIIO_SRF02_x_ADR 0xee //#define I2C_MULTIIO_SRF02_x_ADR 0xf0 //#define I2C_MULTIIO_SRF02_x_ADR 0xf2 //#define I2C_MULTIIO_SRF02_x_ADR 0xf4 //#define I2C_MULTIIO_SRF02_x_ADR 0xf6 //#define I2C_MULTIIO_SRF02_x_ADR 0xf8 //#define I2C_MULTIIO_SRF02_x_ADR 0xfa //#define I2C_MULTIIO_SRF02_x_ADR 0xfc //#define I2C_MULTIIO_SRF02_x_ADR 0xfe // SRF02 registers: #define SRF02_COMMAND 0 // Read: Software Revision #define SRF02_RANGE_MSB 2 #define SRF02_RANGE_LSB 3 #define SRF02_AUTOTUNE_MIN_MSB 4 #define SRF02_AUTOTUNE_MIN_LSB 5 // SRF02 mode constants: #define MODE_INCH 80 // Result in [inch] #define MODE_CM 81 // Result in [cm] #define MODE_US 82 // Result in [us] #define MODE_SYNC_INCH 86 // Result in [inch] * #define MODE_SYNC_CM 87 // Result in [cm] * #define MODE_SYNC_US 88 // Result in [us] * #define MODE_40KHZ_BURST 92 // Ping. No measurement! // *) Fake ranging mode! // Sonic speed constants in air (default: at 20°C): //#define SONIC_SPEED 325.4 // [m/s] at -10°C //#define SONIC_SPEED 328.5 // [m/s] at - 5°C //#define SONIC_SPEED 331.5 // [m/s] at 0°C //#define SONIC_SPEED 334.5 // [m/s] at 5°C //#define SONIC_SPEED 337.5 // [m/s] at 10°C //#define SONIC_SPEED 340.5 // [m/s] at 15°C #define SONIC_SPEED 343.4 // [m/s] at 20°C //#define SONIC_SPEED 346.3 // [m/s] at 25°C //#define SONIC_SPEED 349.2 // [m/s] at 30°C // SRF02 channels: #define CH_SRF02_L 1 #define CH_SRF02_R 2 #define CH_SRF02_1 3 #define CH_SRF02_2 4 #define CH_SRF02_3 5 #define CH_SRF02_4 6 // LEDs (always used): void LEDS_init(void); void setbumperLEDL(uint8_t led); void setbumperLEDR(uint8_t led); void setbumperLEDs(uint8_t leds); // Bumpers: #ifdef BUMPERS void BUMPERS_init(void); uint8_t getBUMPER(uint8_t side); extern uint8_t iobumper_l; extern uint8_t iobumper_r; void task_BUMPERS(void); #endif // SHARP sensors: #ifdef SHARP_SENSORS void SHARPS_init(void); extern uint16_t adcsharp_l; extern uint16_t adcsharp_r; uint16_t getSHARPSensor(uint8_t side); extern double distsharp_l; extern double distsharp_r; double calculateSHARP(uint8_t side); double measureSHARP(uint8_t side); void setSHARPSPower(uint8_t pwr); #endif // SRF02 sensors: #ifdef SRF02_SENSORS extern uint16_t distsrf02; uint8_t SRF02_i2cadr(uint8_t channel); uint8_t SRF02_getFirmware(uint8_t channel); void SRF02_ping(uint8_t channel, uint8_t mode); uint16_t SRF02_read(uint8_t channel); extern double distsrf02_l; extern double distsrf02_r; double SRF02_calculate(uint16_t us); uint16_t SRF02_measure(uint8_t channel, uint8_t mode); void SRF02_changeAdr(uint8_t adr, uint8_t newadr); #endif /*****************************************************************************/ // LFS and Bumper Board initialisation and shutdown: void lfsbumper_init(void); void lfsbumper_shutdown(void); /*****************************************************************************/ #endif /****************************************************************************** * Additional info * **************************************************************************** * Changelog: * * ---> changes are documented in the file "RP6M256_LFSBumperLib.c" * * **************************************************************************** */ /*****************************************************************************/ // EOF
Library Source
Datei: RP6M256_LFSBumperLib.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples
* ****************************************************************************
* Example: RP6M256 LFS Bumper Library
* Author(s): Dirk
* ****************************************************************************
* Description:
*
* This is our new Library that contains basic routines and functions for
* accessing the components of the LFS and Bumper Board.
*
* ****************************************************************************
*/
/*****************************************************************************/
// LFS Board components:
// - 3 or 5 reflective optical sensors (CNY70)
// Bumper Board components:
// - 2 LEDs
// - 2 bumpers
// - 2 SHARP IR distance sensors (e.g. GP2Y0A02YK)
// - 2 SRF02 ultrasonic distance sensors (SRF02)
/*****************************************************************************/
// Includes:
#include "RP6M256_LFSBumperLib.h"
/*****************************************************************************/
// Variables:
uint8_t registerBuf[13];
/*****************************************************************************/
// Line Following Sensor (LFS) Board:
#ifdef LFS
/**
* Call this once before using the LFS function.
*
*/
void LFS_init(void)
{
IO_MULTIIO_LFS_PWR_DDR |= IO_MULTIIO_LFS_PWR_IN;
// LFS power on:
IO_MULTIIO_LFS_PWR_PORT &= ~IO_MULTIIO_LFS_PWR_IN;
}
/**
* This function reads the ADC values of the 5
* CNY70 sensors on the LFS board.
*
* Input: channel -> 1 = left LFS sensor (CH_LFS_L)
* 2 = middle LFS sensor (CH_LFS_M)
* 3 = right LFS sensor (CH_LFS_R)
* 4 = outer right LFS sensor (CH_LFS_R1)
* 5 = outer left LFS sensor (CH_LFS_L1)
*
*/
uint16_t getLFS(uint8_t channel)
{
uint16_t value;
switch (channel) {
case CH_LFS_L :
value = readADC(ADC_MULTIIO_LFS_L); break;
case CH_LFS_M :
value = readADC(ADC_MULTIIO_LFS_M); break;
case CH_LFS_R :
value = readADC(ADC_MULTIIO_LFS_R); break;
#ifdef FIVE_SENSORS
case CH_LFS_R1 :
value = readADC(ADC_MULTIIO_LFS_R1); break;
case CH_LFS_L1 :
value = readADC(ADC_MULTIIO_LFS_L1); break;
#endif
default : value = 0;
}
return value;
}
/**
* With this function you can switch the LFS
* power on or off.
*
* Input: pwr -> 0 (false) = LFS power off
* >0 (true) = LFS power on
*
* Hint: If the LFS is not used, you should
* always switch the LFS power off to
* save energy!
*
*/
void setLFSPower(uint8_t pwr)
{
if (pwr > 0)
IO_MULTIIO_LFS_PWR_PORT &= ~IO_MULTIIO_LFS_PWR_IN;
else
IO_MULTIIO_LFS_PWR_PORT |= IO_MULTIIO_LFS_PWR_IN;
}
#endif
/*****************************************************************************/
// Bumper Board:
// LEDs (always used):
union {
uint8_t byte;
struct {
unsigned LEDL:1;
unsigned LEDR:1;
unsigned unused:6;
};
} bumperLEDs; // Status of the bumper LEDs
/**
* Call this once before using the LEDs.
*
*/
void LEDS_init(void)
{
IO_MULTIIO_BUMPER_R_DDR |= IO_MULTIIO_BUMPER_R_IN;
IO_MULTIIO_BUMPER_R_PORT &= ~IO_MULTIIO_BUMPER_R_IN;
IO_MULTIIO_BUMPER_L_DDR |= IO_MULTIIO_BUMPER_L_IN;
IO_MULTIIO_BUMPER_L_PORT &= ~IO_MULTIIO_BUMPER_L_IN;
bumperLEDs.byte = 0;
}
/**
* Set ONLY LEDL, don't change anything for the
* right bumper LED.
*
* Input: led -> 0 (false) = LEDL off
* >0 (true) = LEDL on
*
*/
void setbumperLEDL(uint8_t led)
{
if (led > 0) {
IO_MULTIIO_BUMPER_L_PORT |= IO_MULTIIO_BUMPER_L_IN;
bumperLEDs.LEDL = 1;
}
else {
IO_MULTIIO_BUMPER_L_PORT &= ~IO_MULTIIO_BUMPER_L_IN;
bumperLEDs.LEDL = 0;
}
}
/**
* Set ONLY LEDR, don't change anything for the
* left bumper LED.
*
* Input: led -> 0 (false) = LEDR off
* >0 (true) = LEDR on
*
*/
void setbumperLEDR(uint8_t led)
{
if (led > 0) {
IO_MULTIIO_BUMPER_R_PORT |= IO_MULTIIO_BUMPER_R_IN;
bumperLEDs.LEDR = 1;
}
else {
IO_MULTIIO_BUMPER_R_PORT &= ~IO_MULTIIO_BUMPER_R_IN;
bumperLEDs.LEDR = 0;
}
}
/**
* Set the 2 LEDs of the MultiIO Bumper Board.
*
* Example:
* setbumperLEDs(0b10);
* // this clears LEDL
* // and sets LEDR!
*
*/
void setbumperLEDs(uint8_t leds)
{
if (leds & 0b00000001) {
setbumperLEDL(1);
}
else {
setbumperLEDL(0);
}
if (leds & 0b00000010) {
setbumperLEDR(1);
}
else {
setbumperLEDR(0);
}
}
// Bumpers:
#ifdef BUMPERS
/**
* Call this once before using the bumpers.
*
* ATTENTION: Stopwatch 8 is used for the bumpers
* task! Please do not use this
* stopwatch elsewhere in your program!
*
*/
void BUMPERS_init(void)
{
startStopwatch8();
}
/**
* This function reads and returns the value of
* the left or right bumper.
*
* Input: side -> 1 (LEFT) = Left bumper
* 2 (RIGHT) = Right bumper
*
*/
uint8_t getBUMPER(uint8_t side)
{
uint8_t tmp;
if (side == LEFT) {
IO_MULTIIO_BUMPER_L_PORT &= ~IO_MULTIIO_BUMPER_L_IN;
IO_MULTIIO_BUMPER_L_DDR &= ~IO_MULTIIO_BUMPER_L_IN;
sleep(5);
if ((IO_MULTIIO_BUMPER_L_PIN & IO_MULTIIO_BUMPER_L_IN) > 0)
tmp = 1;
else tmp = 0;
IO_MULTIIO_BUMPER_L_DDR |= IO_MULTIIO_BUMPER_L_IN;
if (bumperLEDs.LEDL) {
IO_MULTIIO_BUMPER_L_PORT |= IO_MULTIIO_BUMPER_L_IN;
}
return tmp;
}
if (side == RIGHT) {
IO_MULTIIO_BUMPER_R_PORT &= ~IO_MULTIIO_BUMPER_R_IN;
IO_MULTIIO_BUMPER_R_DDR &= ~IO_MULTIIO_BUMPER_R_IN;
sleep(5);
if ((IO_MULTIIO_BUMPER_R_PIN & IO_MULTIIO_BUMPER_R_IN) > 0)
tmp = 1;
else tmp = 0;
IO_MULTIIO_BUMPER_R_DDR |= IO_MULTIIO_BUMPER_R_IN;
if (bumperLEDs.LEDR) {
IO_MULTIIO_BUMPER_R_PORT |= IO_MULTIIO_BUMPER_R_IN;
}
return tmp;
}
return 0;
}
// -------------------------------
// Bumpers State changed handler:
void BUMPERS_stateChanged_DUMMY(void){}
static void (*BUMPERS_stateChangedHandler)(void) = BUMPERS_stateChanged_DUMMY;
/**
* Use this function to set the Bumpers state change handler.
*
*/
void BUMPERS_setStateChangedHandler(void (*bumperHandler)(void))
{
BUMPERS_stateChangedHandler = bumperHandler;
}
// -------------------------------
uint8_t iobumper_l;
uint8_t iobumper_r;
/**
* If you call this frequently out of the mainloop,
* the global iobumper_l and iobumper_r variables
* are updated automatically every 50ms and can be
* used everywhere in your program. It can also
* call an event handler routine, that you need to
* register with BUMPERS_setStateChangedHandler
* before.
*
*/
void task_BUMPERS(void)
{
if(getStopwatch8() > 50) { // 50ms
uint8_t left = getBUMPER(LEFT);
uint8_t right = getBUMPER(RIGHT);
if(iobumper_l != left || iobumper_r != right) {
iobumper_l = left;
iobumper_r = right;
BUMPERS_stateChangedHandler();
}
setStopwatch8(0);
}
}
#endif
// SHARP sensors:
#ifdef SHARP_SENSORS
/**
* Call this once before using the SHARPS.
*
*/
void SHARPS_init(void)
{
IO_MULTIIO_SHARPS_PWR_DDR |= IO_MULTIIO_SHARPS_PWR_IN;
// SHARPS power on:
IO_MULTIIO_SHARPS_PWR_PORT &= ~IO_MULTIIO_SHARPS_PWR_IN;
}
uint16_t adcsharp_l; // Left SHARP sensor ADC value
uint16_t adcsharp_r; // Right SHARP sensor ADC value
/**
* This function reads and returns the ADC value
* of the left or right SHARP sensor. The value is
* also stored in adcsharp_l or adcsharp_r.
*
* Input: side -> 1 (LEFT) = Left SHARP sensor
* 2 (RIGHT) = Right SHARP sensor
*
*/
uint16_t getSHARPSensor(uint8_t side)
{
if (side == LEFT) {
adcsharp_l = readADC(ADC_MULTIIO_SHARP_L);
return adcsharp_l;
}
if (side == RIGHT) {
adcsharp_r = readADC(ADC_MULTIIO_SHARP_R);
return adcsharp_r;
}
return 0;
}
double distsharp_l; // Left SHARP sensor distance
double distsharp_r; // Right SHARP sensor distance
/**
* Calculates and returns the left or right SHARP
* sensor distance value [mm] by using the data
* read from the SHARP sensor with the function
* getSHARPSensor().
*
* Input: side -> 1 (LEFT) = Left SHARP sensor
* 2 (RIGHT) = Right SHARP sensor
*
* Hints: - The linearisation formula is adapted to
* the SHARP GP2Y0A02YK sensor ONLY!
* - You can calculate your own linearisation
* formula by using a table calculation
* program!
*
*/
double calculateSHARP(uint8_t side)
{
double vside;
if (side == LEFT) {
vside = adcsharp_l * 5.0 / 1024.0;
vside = (0.082712905 + 9395.7652 * vside)
/ (1 - 3.3978697 * vside + 17.339222 * vside * vside);
return vside;
}
if (side == RIGHT) {
vside = adcsharp_r * 5.0 / 1024.0;
vside = (0.082712905 + 9395.7652 * vside)
/ (1 - 3.3978697 * vside + 17.339222 * vside * vside);
return vside;
}
return 0;
}
/**
* Measures and returns the left or right SHARP
* sensor distance value [cm].
* The ADC value of the SHARP sensor is also
* stored in adcsharp_l or adcsharp_r.
*
* Input: side -> 1 (LEFT) = Left SHARP sensor
* 2 (RIGHT) = Right SHARP sensor
*
*/
double measureSHARP(uint8_t side)
{
uint16_t tmp;
tmp = getSHARPSensor(side);
return (calculateSHARP(side) / 10); // Result in [cm]
}
/**
* With this function you can switch the SHARP
* sensors power on or off.
*
* Input: pwr -> 0 (false) = SHARPS power off
* >0 (true) = SHARPS power on
*
* Hint: If the SHARPS are not used, you should
* always switch the SHARPS power off to
* save energy!
*
*/
void setSHARPSPower(uint8_t pwr)
{
if (pwr > 0)
IO_MULTIIO_SHARPS_PWR_PORT &= ~IO_MULTIIO_SHARPS_PWR_IN;
else
IO_MULTIIO_SHARPS_PWR_PORT |= IO_MULTIIO_SHARPS_PWR_IN;
}
#endif
// SRF02 sensors:
#ifdef SRF02_SENSORS
uint16_t distsrf02; // SRF02 distance [inch, cm, us]
/**
* Returns the I2C slave address belonging to the
* SRF02 sensor with the channel number [1..6].
*
* Input: channel -> 1 = left SRF02 sensor (CH_SRF02_L) *
* 2 = right SRF02 sensor (CH_SRF02_R) *
* 3 = SRF02 sensor 1 (CH_SRF02_1) "
* 4 = SRF02 sensor 2 (CH_SRF02_2) "
* 5 = SRF02 sensor 3 (CH_SRF02_3) "
* 6 = SRF02 sensor 4 (CH_SRF02_4) "
* *) Located on the Bumper Board!
* ") Connected to the MultiIO Board!
*
*/
uint8_t SRF02_i2cadr(uint8_t channel)
{
uint8_t adr;
switch (channel) {
case CH_SRF02_L :
adr = I2C_MULTIIO_SRF02_L_ADR; break;
case CH_SRF02_R :
adr = I2C_MULTIIO_SRF02_R_ADR; break;
case CH_SRF02_1 :
adr = I2C_MULTIIO_SRF02_1_ADR; break;
case CH_SRF02_2 :
adr = I2C_MULTIIO_SRF02_2_ADR; break;
case CH_SRF02_3 :
adr = I2C_MULTIIO_SRF02_3_ADR; break;
case CH_SRF02_4 :
adr = I2C_MULTIIO_SRF02_4_ADR; break;
default : adr = I2C_MULTIIO_SRF02_L_ADR;
}
return adr;
}
/**
* Reads and returns the SRF02 firmware (software)
* revision number.
* If this function returns 255 after a "ping" was
* sent to the sensor (with SRF02_ping()!), the
* result of the measurement cannot be read yet
* over the I2C bus.
*
* Input: channel -> [1..6] (for details see
* function SRF02_i2cadr()!)
*
* Example:
* tmp = SRF02_getFirmware(CH_SRF02_L);
* // this reads the software revision from
* // the left SRF02 on the Bumper Board!
*
*/
uint8_t SRF02_getFirmware(uint8_t channel)
{
uint8_t adr = SRF02_i2cadr(channel);
I2CTWI_transmitByte(adr, SRF02_COMMAND);
return (I2CTWI_readByte(adr));
}
/**
* Sends a "ping" to the SRF02. This command starts
* a measurement or only sends an ultrasonic burst
* depending on mode.
*
* Input: channel -> [1..6] (for details see
* function SRF02_i2cadr()!)
* mode -> 80: Result in [inch]
* 81: Result in [cm]
* 82: Result in [us]
* 86: Result in [inch] *
* 87: Result in [cm] *
* 88: Result in [us] *
* 92: 40 kHz burst (no measurement)
* *) Fake ranging mode!
*
*/
void SRF02_ping(uint8_t channel, uint8_t mode)
{
I2CTWI_transmit2Bytes(SRF02_i2cadr(channel), SRF02_COMMAND, mode);
}
/**
* Reads and returns the SRF02 measurement result.
* The result unit [inch, cm, us] depends on the
* measuring mode (see SRF02_ping()!).
* The measurement result of the SRF02 sensor is
* also stored in distsrf02.
*
* Input: channel -> [1..6] (for details see
* function SRF02_i2cadr()!)
*
*/
uint16_t SRF02_read(uint8_t channel)
{
uint8_t adr = SRF02_i2cadr(channel);
I2CTWI_transmitByte(adr, SRF02_RANGE_MSB);
I2CTWI_readBytes(adr, registerBuf, 2);
distsrf02 = registerBuf[0] * 256 + registerBuf[1];
return distsrf02;
}
double distsrf02_l; // Left SRF02 distance [mm]
double distsrf02_r; // Right SRF02 distance [mm]
/**
* Calculates and returns the distance [mm] from
* a SRF02 result measured in microseconds [us]
* (modes 82 or 88).
*
* Input: us -> SRF02 result [us]
*
*/
double SRF02_calculate(uint16_t us)
{
uint16_t time_ms = us / 2000; // One way [ms]
return (SONIC_SPEED * time_ms); // Distance [mm]
}
/**
* Performs a SRF02 measurement and returns the
* result [inch, cm, us] depending on mode.
* This function is BLOCKING for about 65 ms!
* If you don't want a blocking measurement, you
* have to write your own function with a non
* blocking pause between starting measurement
* and reading the result.
*
* Input: channel -> [1..6] (for details see
* function SRF02_i2cadr()!)
* mode -> 80: Result in [inch]
* 81: Result in [cm]
* 82: Result in [us]
*
*/
uint16_t SRF02_measure(uint8_t channel, uint8_t mode)
{
uint8_t adr = SRF02_i2cadr(channel);
SRF02_ping(adr, mode);
mSleep(65);
return (SRF02_read(adr));
}
/**
* Changes the SRF02 I2C slave address.
*
* Input: adr -> Old I2C address [0xe0..0xfe]
* newadr -> New I2C address [0xe0..0xfe]
*
* Hints: - adr and newadr may not be equal!
* - newadr must be even!
* - If you use this function, only !!ONE!!
* SRF02 (with the I2C address adr) may
* be connected to the I2C bus!
*
*/
void SRF02_changeAdr(uint8_t adr, uint8_t newadr)
{
if (adr == newadr) return;
if (newadr < 0xe0) return;
newadr &= 0xfe;
I2CTWI_transmit2Bytes(adr, SRF02_COMMAND, 160);
mSleep(50);
I2CTWI_transmit2Bytes(adr, SRF02_COMMAND, 170);
mSleep(50);
I2CTWI_transmit2Bytes(adr, SRF02_COMMAND, 165);
mSleep(50);
I2CTWI_transmit2Bytes(adr, SRF02_COMMAND, newadr);
}
#endif
// Bumper Board init:
/**
* Call this once before using the Bumper Board.
*
*/
void BUMPERBOARD_init(void)
{
LEDS_init();
#ifdef BUMPERS
BUMPERS_init();
#endif
#ifdef SHARP_SENSORS
SHARPS_init();
#endif
}
/*****************************************************************************/
/*****************************************************************************/
// LFS and Bumper Board initialisation and shutdown:
/**
* You MUST call this function at the beginning of a
* main program, that uses the LFS or Bumper Board.
*
*/
void lfsbumper_init(void)
{
// LFS:
#ifdef LFS
LFS_init(); // Init LFS Board
#endif
// Bumper:
BUMPERBOARD_init(); // Init Bumper Board
}
/**
* If you don't use any function of the LFS and
* Bumper Board, you can put the LFS and Bumper
* Board into "SHUTDOWN MODE". In this mode the
* power consumption is very low to save energy.
*
*/
void lfsbumper_shutdown(void)
{
// LEDs:
setbumperLEDs(0b00); // Bumper LEDs off
// Bumper:
#ifdef SHARP_SENSORS
setSHARPSPower(0); // SHARPS/RADARS power off
#endif
#ifdef RADAR_SENSORS
setRADARSPower(0);
#endif
// LFS:
#ifdef LFS
setLFSPower(0); // LFS power off
#endif
}
/*****************************************************************************/
/*****************************************************************************/
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 0.92 (shutdown mode added) 28.03.2013 by Dirk
* - v. 0.9 (initial release) 26.03.2013 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
// EOF
Erklärung
Linienfolger Demo
Fast jeder mobile Roboter hat inzwischen Linienfolge-Sensoren (LFS). Der RP6 bekommt sie mit der Multi IO Projekt Platine jetzt auch. Das Liniensensor Board muss dazu an den 8-poligen Stecker "CNY70" auf der MultiIO angeschlossen und vorn am RP6 knapp über dem Boden montiert werden.
Gegenüber der Standardstellung der Jumper (siehe hier!) müssen Jumper auf der MultiIO für die LFS-Nutzung umgesteckt werden. Die folgende Abbildung zeigt den Wahl-Jumper-Block.
Wahl-Jumper: Stellung der Jumper
Hinweis: Die Jumper sind orange eingezeichnet!
Zur Messung der 3,3V-Spannung und zur Auswertung des Touch-Sensors kann zusätzlich je ein Jumper auf 3V3-PF4 und NE5-PF3 gesetzt werden, wenn keine analogen Sensoren auf der Bumper-Platine benutzt werden.
makefile:
... TARGET = RP6M256_MultiIO_2 ... SRC += RP6M256_LFSBumperLib.c ...
Datei: RP6M256_MultiIO_2.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples
* ****************************************************************************
* Example: RP6M256 MultiIO
* Author(s): Dirk
* ****************************************************************************
* Description:
* In this example we show a second test for the MultiIO Project Board.
* It tests the Line Following Sensor (LFS) Board with 5 (3) CNY70s.
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* You should also connect to it via WIFI.
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6M256Lib.h" // The RP6 M256 Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // Include the I2C-Bus Master Library
/*****************************************************************************/
/*****************************************************************************/
// Include our new "RP6M256 LFS Bumper library":
// (This is the library for accessing the LFS and Bumper Board!)
#include "RP6M256_LFSBumperLib.h"
/*****************************************************************************/
/**
* Write a floating point number to the WIFI.
*
* Example:
*
* // Write a floating point number to the WIFI (no exponent):
* writeDouble_WIFI(1234567.890, 11, 3);
*
* The value of prec (precision) defines the number of decimal places.
* For 32 bit floating point variables (float, double ...) 6 is
* the max. value for prec (7 relevant digits).
* The value of width defines the overall number of characters in the
* floating point number including the decimal point. The number of
* pre-decimal positions is: (width - prec - 1).
*/
void writeDouble_WIFI(double number, uint8_t width, uint8_t prec)
{char buffer[width + 1];
dtostrf(number, width, prec, &buffer[0]);
writeString_WIFI(&buffer[0]);
}
/*****************************************************************************/
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
*
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P_WIFI("\nI2C ERROR - TWI STATE: 0x");
writeInteger_WIFI(errorState, HEX);
writeChar_WIFI('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6M256(); // Always call this first! The Processor will not work
// correctly otherwise.
initLCD(); // Initialize the LC-Display (LCD)
// Always call this before using the LCD!
setLEDs(0b1111);
mSleep(500);
setLEDs(0b0000);
writeString_P_WIFI("\n\nRP6M256 Multi IO Selftest 2!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handler:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
// Write a text message to the LCD:
showScreenLCD("################", "################");
mSleep(1500);
showScreenLCD("RP6v2-M256-WIFI ", "Example Program");
mSleep(2500);
showScreenLCD("RP6M256 Multi IO", " Selftest 2");
mSleep(2500);
clearLCD();
setLEDs(0b0000);
// ---------------------------------------
uint16_t lfs_l, lfs_m, lfs_r;
#ifdef FIVE_SENSORS
uint16_t lfs_l1, lfs_r1;
#endif
startStopwatch1();
// IMPORTANT:
lfsbumper_init(); // LFS & Bumper init!!!
//setServoPower(1); // Servo power ON!
while(true)
{
if(getStopwatch1() > 500) // 0.5s
{
// LFS ADC test:
#ifdef FIVE_SENSORS
lfs_l1 = getLFS(CH_LFS_L1);
writeString_WIFI("\nADC LFS_L1: ");
writeInteger_WIFI(lfs_l1, DEC);
#endif
lfs_l = getLFS(CH_LFS_L);
writeString_WIFI("\nADC LFS_L: ");
writeInteger_WIFI(lfs_l, DEC);
lfs_m = getLFS(CH_LFS_M);
writeString_WIFI("\nADC LFS_M: ");
writeInteger_WIFI(lfs_m, DEC);
lfs_r = getLFS(CH_LFS_R);
writeString_WIFI("\nADC LFS_R: ");
writeInteger_WIFI(lfs_r, DEC);
#ifdef FIVE_SENSORS
lfs_r1 = getLFS(CH_LFS_R1);
writeString_WIFI("\nADC LFS_R1: ");
writeInteger_WIFI(lfs_r1, DEC);
#endif
writeString_WIFI("\n");
setStopwatch1(0);
}
// task_I2CTWI();
}
return 0;
}
Erklärung
Bumper Demo
Fabian hat ein sehr universelles Bumper-Board designt, auf das 2 LEDs, 2 Bumper-Taster, zusätzlich 2 analoge SHARP-IR-Entfernungssensoren (in dieser Demo: GP2Y0A02YK), alternativ 2 I2C-Ultraschall-Entfernungssensoren (SRF02) oder 2 Radar-Sensoren (mit RSM-1650) montiert werden können. Das Bumper-Board muss an den 7-poligen Stecker "Bumper" der MultiIO angeschlossen und vorn oder hinten am RP6 montiert werden.
Diese Software demonstriert das Auslesen aller dieser Sensoren bis auf die Radar-Sensoren (weil ich die Radar-Sensoren noch nicht bekommen habe!).
Gegenüber der Standardstellung der Jumper (siehe hier!) müssen Jumper auf der MultiIO für die Nutzung des Bumper-Boards umgesteckt werden. Die folgenden Abbildungen zeigen den Wahl-Jumper-Block.
Wahl-Jumper: Stellung der Jumper für analoge Sensoren (SHARP, Radar)
Hinweis: Die Jumper sind orange eingezeichnet!
Diese Jumperstellung entspricht der Standard-Jumperstellung!
Wahl-Jumper: Stellung der Jumper für I2C-Sensoren (SRF02)
Hinweis: Die Jumper sind orange eingezeichnet!
Zur Messung der 3,3V-Spannung und zur Auswertung des Touch-Sensors kann zusätzlich je ein Jumper auf 3V3-PF4 und NE5-PF3 gesetzt werden. Alternativ kann diese Messung auch wie bei der Standard- Jumperstellung mit Jumpern auf 3V3-AD3 und NE5-AD1 erfolgen, wenn man die LFS-Kanäle L und M nicht braucht.
makefile:
... TARGET = RP6M256_MultiIO_3 ... SRC += RP6M256_LFSBumperLib.c ...
Datei RP6M256_MultiIO_3.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M256 Examples
* ****************************************************************************
* Example: RP6M256 MultiIO
* Author(s): Dirk
* ****************************************************************************
* Description:
* In this example we show a third test for the MultiIO Project Board.
* It tests the Bumper Board with 2 LEDs, 2 bumpers, 2 analog SHARP IR
* distance sensors (GP2Y0A02YK) and/or 2 I2C ultrasonic distance sensors
* (SRF02).
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* You should also connect to it via WIFI.
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6M256Lib.h" // The RP6 M256 Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // Include the I2C-Bus Master Library
/*****************************************************************************/
/*****************************************************************************/
// Include our new "RP6M256 LFS Bumper library":
// (This is the library for accessing the LFS and Bumper Board!)
#include "RP6M256_LFSBumperLib.h"
/*****************************************************************************/
/**
* Write a floating point number to the WIFI.
*
* Example:
*
* // Write a floating point number to the WIFI (no exponent):
* writeDouble_WIFI(1234567.890, 11, 3);
*
* The value of prec (precision) defines the number of decimal places.
* For 32 bit floating point variables (float, double ...) 6 is
* the max. value for prec (7 relevant digits).
* The value of width defines the overall number of characters in the
* floating point number including the decimal point. The number of
* pre-decimal positions is: (width - prec - 1).
*/
void writeDouble_WIFI(double number, uint8_t width, uint8_t prec)
{char buffer[width + 1];
dtostrf(number, width, prec, &buffer[0]);
writeString_WIFI(&buffer[0]);
}
/*****************************************************************************/
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
*
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P_WIFI("\nI2C ERROR - TWI STATE: 0x");
writeInteger_WIFI(errorState, HEX);
writeChar_WIFI('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6M256(); // Always call this first! The Processor will not work
// correctly otherwise.
initLCD(); // Initialize the LC-Display (LCD)
// Always call this before using the LCD!
setLEDs(0b1111);
mSleep(500);
setLEDs(0b0000);
writeString_P_WIFI("\n\nRP6M256 Multi IO Selftest 3!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handler:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
// Write a text message to the LCD:
showScreenLCD("################", "################");
mSleep(1500);
showScreenLCD("RP6v2-M256-WIFI ", "Example Program");
mSleep(2500);
showScreenLCD("RP6M256 Multi IO", " Selftest 3");
mSleep(2500);
clearLCD();
setLEDs(0b0000);
// ---------------------------------------
uint8_t i, bump_l, bump_r;
uint16_t distsrf_l, distsrf_r;
startStopwatch1();
// IMPORTANT:
lfsbumper_init(); // LFS & Bumper init!!!
//setServoPower(1); // Servo power ON!
// Bumper LEDs test:
for (i = 0; i < 10; i++) {
setbumperLEDL(1); // Left bumper LED on
setbumperLEDR(0); // Right bumper LED off
setLEDs(0b0101);
mSleep(500);
setbumperLEDs(0b10); // Right LED on, left LED off
setLEDs(0b1010);
mSleep(500);
}
setbumperLEDR(0); // Right bumper LED off
setLEDs(0b0000);
while(true)
{
if(getStopwatch1() > 1000) // 1s
{
#ifdef BUMPERS
// Bumpers test:
clearLCD();
bump_l = getBUMPER(LEFT); // Read bumper
setCursorPosLCD(0, 0);
writeIntegerLCD(bump_l, DEC);
setCursorPosLCD(0, 4);
writeStringLCD("<BUMPER>");
bump_r = getBUMPER(RIGHT);
setCursorPosLCD(0, 15);
writeIntegerLCD(bump_r, DEC);
#endif
#ifdef SHARP_SENSORS
// SHARP sensors test:
distsharp_l = measureSHARP(LEFT); // Measure
writeString_WIFI("\nSHARP SENSORS ->");
writeString_WIFI("\nLeft Distance: ");
writeDouble_WIFI(distsharp_l, 5, 1);
distsharp_r = measureSHARP(RIGHT);
writeString_WIFI("cm\nRight Distance: ");
writeDouble_WIFI(distsharp_r, 5, 1);
writeString_WIFI("cm\n");
#endif
#ifdef SRF02_SENSORS
// SRF02 sensors test:
distsrf_l = SRF02_measure(CH_SRF02_L, MODE_CM);
writeString_WIFI("\nSRF02 SENSORS ->");
writeString_WIFI("\nLeft Distance: ");
writeInteger_WIFI(distsrf_l, DEC);
distsrf_r = SRF02_measure(CH_SRF02_R, MODE_CM);
writeString_WIFI("cm\nRight Distance: ");
writeInteger_WIFI(distsrf_r, DEC);
writeString_WIFI("cm\n");
#endif
setStopwatch1(0);
}
task_I2CTWI();
}
return 0;
}
Erklärung
Radio Board Library
Wird bei Bedarf DEN Usern zur Verfügung gestellt, die die Radio-Platine bestellt haben und mit ihr arbeiten möchten.
Library Header
Library Source
Erklärung
Demo
Erklärung
Library für die Orientierung im Raum
"Orientierung im Raum" ist ein vielschichtiger Begriff. Für einen mobilen Roboter ist es wichtig, seine Neigung (Pitch, Roll) zu kennen und ggf. seine Fahrtrichtung. In geschlossenen Räumen sollte er sich ebenfalls orientieren können, Hindernisse erkennen und z.B. eine Karte seiner Umgebung erstellen können.
In dieser Library soll es um das Auslesen von drei Sensoren gehen, die dabei helfen, sich zu orientieren:
- GPS-Empfänger (NL-552ETTL)
- 2D-Kompass (HDMM01)
- 9D-IMU (MinIMU-9 v2)
UART-Anschluß
Auf der Multi IO Projekt Platine kann am Anschluß "GPS" ein GPS-Empfänger (z.B. NL-552ETTL) angeschlossen werden. Dieses Modul ist der einzige direkt an die MultiIO anschließbare externe Sensor, der seine Daten über eine serielle Schnittstelle zur Verfügung stellt. Mit seinen Pins TX (Ausgang) und RX (Eingang) muss der NL-552ETTL mit einem (Hardware-) UART des Microcontrollers auf der M256 (z.B. UART1) verbunden werden. In der Standard-Konfiguration der MultiIO (siehe hier!) ist diese Verbindung NICHT vorgesehen.
Wie kann man diese Verbindung herstellen?
Eine Verbindung zwischen dem GPS-Modul auf der MultiIO und dem UART1 der M256 läßt sich wie folgt herstellen:
1. Anstelle des Wannensteckers IO_PWM/T2/T3 verbindet man den Wannenstecker UART_SPI1/T5 der M256 mit IO-Mxxx der MultiIO. Damit ist der UART1-Anschluß problemlos erreicht und das GPS-Modul sofort einsatzfähig.
Nachteil: Man muss die Multi IO Library ändern, um sie an die
anderen Portpins dieses Steckers anzupassen.
2. Man verbindet mit einem 2-poligen Kabel die beiden Pins "Tx" und "Rx5V" des 3-poligen Steckers "P_GPS1" direkt oberhalb des GPS-Modul-Anschlusses auf der MultiIO so mit dem Wannenstecker UART_SPI1/T5 der M256:
| GPS-Funktion | P_GPS1-Pin | M256-Port | M256-Funktion | UART_SPI1/T5-Pin | Bemerkung |
| Tx | 2 | PD2 | RXD1 | 8 | Tx hat 3,3V-Pegel! |
| Rx5V | 1 | PD3 | TXD1 | 6 | Kann auch entfallen! * |
Zu *) Diese Verbindung wird nur zur Konfiguration des GPS-Moduls
benötigt.
Wenn das Modul konfiguriert ist, kann Rx5V des GPS-Moduls
ohne Anschluß bleiben!
WICHTIGER HINWEIS:
Wenn die UART1-Verbindung zwischen GPS-Modul und M256 über den 3-poligen Stecker "P_GPS1" hergestellt wird, sollten die Tx- und Rx5V-Leitungen des GPS-Moduls von IO-Mxxx abgetrennt werden. Dazu müssen die zwei Jumper "Tx2" und "Rx" der Standard-Jumperstellung (siehe hier!) an Pins 6 und 8 vom Jumper-Block "J_IO" abgezogen werden. Siehe folgende Abbildung:
Die rote Doppellinie bedeutet: Hier NIE einen Jumper aufstecken!!!
Library Header
Library Source
Erklärung
Demo
Erklärung
Library für die Messung von Umweltdaten
Zur Messung von Umweltdaten können folgende drei Sensoren genutzt und direkt an die Multi IO Projekt Platine angeschlossen werden:
- Zwei LDR A9060 (Helligkeit)
- HYT-221 (Feuchte, Temperatur)
- BMP085 (Luftdruck)
Bringt man z.B. den HYT-221 und einen LDR A9060 draußen an, dann kann man mit drei Außenwerten (Feuchte, Temperatur, Helligkeit) und dem Luftdruck schon eine recht gute "Wettervorhersage" darstellen.
3,3V-Stromversorgung
Der I2C-Luftdrucksensor BMP085 wird mit einer Versorgungsspannung von 3,3V und an einem 3,3V-I2C-Bus betrieben. Diese Voraussetzungen sind gegeben, wenn der Sensor an seinen 6-poligen Anschluß-Stecker "Luftdruck" auf der MultiIO angeschlossen wird. Allerdings muss noch die 3,3V-Stromversorgung der MultiIO eingeschaltet werden. Dazu sind zwei zusätzliche Jumper zu setzen, siehe folgende Abbildung:
Library Header
Library Source
Erklärung
Demo
Erklärung
DCF77-Library
Die "Funkuhr-Zeit" kann empfangen und ausgewertet werden, wenn ein DCF77-Empfänger (z.B. CONRAD 641138) mit dem dafür vorgesehenen Anschluß "DCF77" auf der Multi IO Platine verbunden ist.
Die RP6 M256 WIFI DCF77 Library findet ihr HIER!
Geändert werden muss der Eingangs-Portpin. Dazu schaut euch die Datei RP6M256_DCFLib.c an.
Die folgenden Zeilen:
// RP6 M256 WIFI DCF Receiver Connection: #define DCF_PORT PORTJ #define DCF_DDR DDRJ #define DCF_PIN PINJ #define DCF_IN INT1_PI12 // PINJ3 XBUS Pin 8
... am Anfang der Datei im Abschnitt "Defines" müssen so geändert werden:
// RP6 M256 WIFI DCF Receiver Connection: #define DCF_PORT PORTE #define DCF_DDR DDRE #define DCF_PIN PINE #define DCF_IN IO_PE7_ICP3_I7 // PINE7 IO_PWM/T2/T3 Pin 1
RP6 CCPRO M128
Die RP6-CCPRO-M128 (= "M128") kann über den I2C-Bus alle I2C-Sensoren und I2C-Aktoren ansteuern und hat mit ihren freien Ressourcen (Portpins) gute Voraussetzungen, um die weiteren Funktionen der Multi IO Platine zu nutzen. Dazu wird sie (wenn alle Funktionen gleichzeitig genutzt werden sollen) mit zwei Steckverbindungen angeschlossen:
- IO-Mxxx <-> I/O
- ADC-Mxxx <-> ADC
Dadurch ergeben sich umfangreiche Möglichkeiten, die Sensoren der Multi IO Platine auszulesen und Aktoren zu schalten. Die folgenden 2 Tabellen zeigen die Verbindungen:
Stecker IO-Mxxx:
| Stecker-Pin | M128-Port | M128-Funktion | Port-Bit | Multi IO-Funktion | I/O |
| 1 | PB5 | OC1A | 13 | DCF77 | I |
| 2 | PD7 | T2 | 31 | LFS_PWR | O |
| 3 | PB6 | OC1B | 14 | SHARPS_PWR | O |
| 4 | PD6 | T1 | 30 | SNAKE_SWITCH | O |
| 5 | PE3 ** | OC3A/AIN1 | 35 | BUZZER | O |
| 6 | PD4 | ICP1 | 28 | (TX *) | |
| 7 | PD3 | TXD1/INT3 | 27 | SNAKE_KEY / TX | I/O |
| 8 | PD2 | RXD1/INT2 | 26 | RX | I |
| 9 | GND | ||||
| 10 | VDD |
Zu *) TX nicht an Pin 6 des I/O Steckers der M128 vorhanden!
Zu **) Auf der M128 ist hier ebenfalls der Piezo-Signalgeber (SND) angeschlossen!
Stecker ADC-Mxxx:
| Stecker-Pin | M128-Port | M128-Funktion | Port-Bit | Multi IO-Funktion | I/O |
| 1 | PF1 | ADC1 | 41 | TOUCH / LFS_L | I |
| 2 | PF7 | ADC7 | 47 | 3V3 alt.2 | I |
| 3 | PF3 | ADC3 | 43 | 3V3 / LFS_M | I |
| 4 | PF0 | ADC0 | 40 | BUMPER_L | I/O * |
| 5 | PF5 | ADC5 | 45 | LFS_R | I |
| 6 | PF2 | ADC2 | 42 | n.c. | |
| 7 | PF6 | ADC6 | 46 | BUTTONS | I |
| 8 | PF4 | ADC4 | 44 | BUMPER_R | I/O * |
| 9 | GND | ||||
| 10 | VDD |
Zu *) Eingang für Bumper-Taster, Ausgang für Bumper-LED!
Multi IO Projekt Library
Die Multi IO Library für die M128 hat bei mir nicht die erste Priorität. Wenn jemand die Multi IO Platine unbedingt mit der M128 betreiben will, bin ich mit Tips für das Umschreiben der Library auf CompactC gern dabei!
Abweichende IO-Jumperstellung für die M128
Die rote Doppellinie bedeutet: Hier NIE einen Jumper aufstecken!!!
Zwei Signalgeber am selben Portpin
WICHTIGER HINWEIS: Es ist nur möglich, den Signalgeber (Buzzer SG2) auf der Multi IO Platine zu nutzen, wenn der Signalgeber (SND) auf der M128 deaktiviert wurde (Jumper "EN_SND" auf der M128 abziehen)! Wenn beide Signalgeber GLEICHZEITIG mit dem Portpin PE3 der M128 verbunden sind, kann dieser evtl. beschädigt werden!!! Soll der Buzzer auf der MultiIO NICHT genutzt werden, muss der Jumper "Buz" auf Pin 5 des Jumper-Blocks "J_IO" abgezogen werden. Siehe folgende Abbildung:
Die rote Doppellinie bedeutet: Hier NIE einen Jumper aufstecken!!!
I2C-Adresse des TCN75A
WICHTIGER HINWEIS: Wird die RP6 CCPRO M128 zur Ansteuerung der MultiIO benutzt ODER ist eine RP6 CCPRO M128 gemeinsam mit der MultiIO mit dem XBUS des RP6-Systems verbunden, dann befinden sich ZWEI TCN75A (auf der MultiIO UND der M128) am selben I2C-Bus! Beide Sensoren sind standardmäßig auf dieselbe I2C-Adresse (0x90) eingestellt.
Einer der beiden TCN75A muss deshalb auf eine andere I2C-Adresse umgestellt werden (im Bild oben ist mit "J_TCN_ADR" eine neue Standard-I2C-Adresse 0x92 für den TCN75A auf der MultiIO eingestellt)!!!
Alternativ: Der TCN75A (U26) auf der MultiIO wird deaktiviert ("J_TCN" abgezogen)! Siehe nachfolgende Abbildung:
Analoge Sensoren auf dem Bumper Board
Mit dem Wahl-Jumper-Block (s.o. Abbildung "Abweichende IO-Jumperstellung für die M128"!) sind die Signalleitungen ("SigL" und "SigR") des Bumper Boards mit "SCL" und "SDA", also mit dem I2C-Bus verbunden (z.B. für SRF02). Will man stattdessen analoge Sensoren (SHARP, Radar) auf dem Bumper Board nutzen, dann kann man mit dem Wahl-Jumper-Block leider keine analogen (ADC-) Eingänge dafür auswählen, weil "PF4" und "PF3" nur auf der M256 als ADC-Eingänge verfügbar sind.
Eine mögliche Lösung ist die Nutzung der beiden freien ADC-Kanäle 7 und 2 der M128 für die analogen Sensoren auf dem Bumper Board. Die folgende Abbildung zeigt die dafür nötigen Verbindungen:
Library
Datei RP6MultiIOCClib.cc:
Die Library ist nicht vollständig! Aktuell sind dies nur die Definitionen, die für die MultiIO benötigt werden!
/* **************************************************************************** * _______________________ * \| RP6 ROBOT SYSTEM |/ * \_-_-_-_-_-_-_-_-_-_/ >>> CCPRO M128 * ---------------------------------------------------------------------------- * ---------------------------- [c]2013 - Dirk -------------------------------- * **************************************************************************** * File: RP6MultiIOCClib.cc * Version: 1.0 - CompactC * Target: RP6 CCPRO M128 - C-Control PRO M128 @14.7456MHz * mit optionalem LC-Display 16x2 Zeichen (CONRAD 190911) * [oder Backlight Display 16x2 Zeichen (CONRAD 191621)] * und mit der MultiIO Projekt Platine ... * Author(s): Dirk * **************************************************************************** * Beschreibung: * Dies ist meine RP6 CCPRO M128 MultiIO Bibliothek. Sie enthält Funktionen, * um die MultiIO Projekt Platine mit der RP6 CCPRO M128 anzusteuern. * Die Dokumentation zum Projekt ist hier zu finden: * ---> http://www.rn-wissen.de/index.php/RP6_Multi_IO_Projekt <--- * ---> http://www.rn-wissen.de/index.php/RP6_Multi_IO_Projekt_-_Software <--- * * ... * * **************************************************************************** * CHANGELOG FINDEN SIE AM ENDE DIESER DATEI! * **************************************************************************** */ // Alles nur EINMAL einbinden! #ifndef __RP6MULTIIOCCLIB__ #define __RP6MULTIIOCCLIB__ /*****************************************************************************/ // Auf der MultiIO montierte Komponenten: // - I2C Spannung & Strom Sensor (LTC2990) // - I2C Echtzeituhr (RTC DS1307Z) // - I2C Temperatur Sensor (TCN75A) // - I2C Servo Controller (PCA9685) // - I2C EEPROM (24LCXXX) // - 3V3 Spannung Sensor // - Touch Sensor (mit NE555) // - Buttons // - LEDs // - Buzzer /*****************************************************************************/ // Konfiguration: // I2C Spannung & Strom Sensor (LTC2990): #define I2C_MULTIIO_VCS_ADR 0x98 // ADR1/0 = 0/0 //#define I2C_MULTIIO_VCS_ADR 0x9a // ADR1/0 = 0/1 //#define I2C_MULTIIO_VCS_ADR 0x9c // ADR1/0 = 1/0 //#define I2C_MULTIIO_VCS_ADR 0x9e // ADR1/0 = 1/1 //#define I2C_MULTIIO_VCS_ADR 0xee // Global sync address // (Abgleich von Shunt Widerstand, Strom und Spannung!) #define SHUNT_R 0.051 // R10 [Ohm] #define C_ADJUST 2.0 // Strom Abgleich-Faktor #define C_OFFSET 0.0 // Strom Offset [mA] #define VBAT_ADJUST 3.2 // (R13 + R14) / R14 #define VSERVO_ADJUST 2.5 // (R32 + R22) / R22 /*****************************************************************************/ // I2C Echtzeituhr (RTC DS1307Z): #define I2C_MULTIIO_RTC_ADR 0xD0 // Default /*****************************************************************************/ // I2C Temperatur Sensor (TCN75A): // (A1 immer 0!) //#define I2C_MULTIIO_TEMP_ADR 0x90 // A2/0 = 0/0 #define I2C_MULTIIO_TEMP_ADR 0x92 // A2/0 = 0/1 //#define I2C_MULTIIO_TEMP_ADR 0x98 // A2/0 = 1/0 //#define I2C_MULTIIO_TEMP_ADR 0x9a // A2/0 = 1/1 /*****************************************************************************/ // I2C Servo Controller (PCA9685): // (A5, A4, A3, A2 immer 0!) #define I2C_MULTIIO_SERVO_ADR 0x80 // A1/0 = 0/0 //#define I2C_MULTIIO_SERVO_ADR 0x82 // A1/0 = 0/1 //#define I2C_MULTIIO_SERVO_ADR 0x84 // A1/0 = 1/0 //#define I2C_MULTIIO_SERVO_ADR 0x86 // A1/0 = 1/1 //#define I2C_MULTIIO_SERVO_ADR 0xe0 // ALLCALLADR // (Servo Power ist verbunden mit LED8 des PCA9685!) #define CHSERVOPWR 9 // Konstanten für linker Servo Anschlag (LT), rechter Servo Anschlag (RT), // mittlere Servo Position (MP): // (Hinweise: - Servo Impuls Länge [ms] = Servo Positionswert / 204.8 // (Formel nur gültig für eine PWM von 50 Hz!) // - Min. Servo Impuls (0,7 ms) = Servo Positionswert 143 // - Mid. Servo Impuls (1,5 ms) = Servo Positionswert 307 // - Max. Servo Impuls (2,3 ms) = Servo Positionswert 471 // - !!! Keine Positionswerte < 143 oder > 471 benutzen!!!) #define SERVO1_LT 205 // Servo Impuls ~1ms #define SERVO1_RT 410 // Servo Impuls ~2ms #define SERVO1_MP ((SERVO1_RT - SERVO1_LT) / 2 + SERVO1_LT) #define SERVO2_LT 205 #define SERVO2_RT 410 #define SERVO2_MP ((SERVO2_RT - SERVO2_LT) / 2 + SERVO2_LT) #define SERVO3_LT 205 #define SERVO3_RT 410 #define SERVO3_MP ((SERVO3_RT - SERVO3_LT) / 2 + SERVO3_LT) #define SERVO4_LT 205 #define SERVO4_RT 410 #define SERVO4_MP ((SERVO4_RT - SERVO4_LT) / 2 + SERVO4_LT) #define SERVO5_LT 205 #define SERVO5_RT 410 #define SERVO5_MP ((SERVO5_RT - SERVO5_LT) / 2 + SERVO5_LT) #define SERVO6_LT 205 #define SERVO6_RT 410 #define SERVO6_MP ((SERVO6_RT - SERVO6_LT) / 2 + SERVO6_LT) #define SERVO7_LT 205 #define SERVO7_RT 410 #define SERVO7_MP ((SERVO7_RT - SERVO7_LT) / 2 + SERVO7_LT) #define SERVO8_LT 205 #define SERVO8_RT 410 #define SERVO8_MP ((SERVO8_RT - SERVO8_LT) / 2 + SERVO8_LT) /*****************************************************************************/ // I2C EEPROM (24LCXXX): // (A2=1 nicht mit 24LC1024-P nutzbar!) #define I2C_MULTIIO_EEPROM_ADR 0xA0 // A2/1/0 = 0/0/0 //#define I2C_MULTIIO_EEPROM_ADR 0xA2 // A2/1/0 = 0/0/1 //#define I2C_MULTIIO_EEPROM_ADR 0xA4 // A2/1/0 = 0/1/0 //#define I2C_MULTIIO_EEPROM_ADR 0xA6 // A2/1/0 = 0/1/1 //#define I2C_MULTIIO_EEPROM_ADR 0xA8 // A2/1/0 = 1/0/0 //#define I2C_MULTIIO_EEPROM_ADR 0xAA // A2/1/0 = 1/0/1 //#define I2C_MULTIIO_EEPROM_ADR 0xAC // A2/1/0 = 1/1/0 //#define I2C_MULTIIO_EEPROM_ADR 0xAE // A2/1/0 = 1/1/1 // Definiere die I2C-EEPROM Speicherkapazität [kbit] hier: #define I2C_EEPROM_KBIT 32 // 24LC32-P <== Standard //#define I2C_EEPROM_KBIT 64 // 24LC64-P //#define I2C_EEPROM_KBIT 128 // 24LC128-P //#define I2C_EEPROM_KBIT 256 // 24LC256-P //#define I2C_EEPROM_KBIT 512 // 24LC512-P //#define I2C_EEPROM_KBIT 1024 // 24LC1024-P // Definiere die I2C-EEPROM Seitengröße [byte] hier: // ACHTUNG: Die Seitengröße muss zum oben definierten EEPROM Typ passen! #define I2C_EEPROM_PAGESIZE 32 // EEPROM 32 or 64 kbit //#define I2C_EEPROM_PAGESIZE 64 // EEPROM 128 or 256 kbit //#define I2C_EEPROM_PAGESIZE 128 // EEPROM 512 kbit //#define I2C_EEPROM_PAGESIZE 256 // EEPROM 1024 kbit /*****************************************************************************/ // 3V3 Spannung Sensor: #define ADC_MULTIIO_3V3 3 // PortF.3 ADC-Mxxx: ADC //#define ADC_MULTIIO_3V3 7 // PortF.7 ADC-Mxxx: ADC /*****************************************************************************/ // Touch Sensor (mit NE555): #define ADC_MULTIIO_TOUCH 1 // PortF.1 ADC-Mxxx: ADC #define ADCVAL_NOTOUCH 15 #define ADCVAL_TOUCH 1020 #define ADCVAL_LIMIT_T ((ADCVAL_TOUCH - ADCVAL_NOTOUCH) / 2 + ADCVAL_NOTOUCH) /*****************************************************************************/ // Buttons: #define ADC_MULTIIO_BUTTONS 6 // PortF.6 ADC-Mxxx: ADC #define ADCVAL_BUTTON1 14 #define ADCVAL_BUTTON2 577 #define ADCVAL_BUTTON3 736 #define ADCVAL_BUTTON4 812 #define ADCVAL_LIMIT12 ((ADCVAL_BUTTON2 - ADCVAL_BUTTON1) / 2 + ADCVAL_BUTTON1) #define ADCVAL_LIMIT23 ((ADCVAL_BUTTON3 - ADCVAL_BUTTON2) / 2 + ADCVAL_BUTTON2) #define ADCVAL_LIMIT34 ((ADCVAL_BUTTON4 - ADCVAL_BUTTON3) / 2 + ADCVAL_BUTTON3) #define ADCVAL_LIMIT40 ((1023 - ADCVAL_BUTTON4) / 2 + ADCVAL_BUTTON4) /*****************************************************************************/ // LEDs: // (Status LED1..LED4 sind verbunden mit LED15..LED12 des PCA9685!) #define CHLED1 16 #define CHLED2 15 #define CHLED3 14 #define CHLED4 13 /*****************************************************************************/ // Buzzer: // (Der IO-Mxxx Stecker ist verbunden mit dem M128 I/O Stecker!) #define IO_MULTIIO_BUZZER_PORT 35 // PortE.3 IO-Mxxx: I/O /*****************************************************************************/ // Andere ADC Kanal Definitionen: // (Abhängig von Jumper-Stellungen auf der MultiIO Projekt Platine!) // (Der ADC-Mxxx Stecker ist verbunden mit dem M128 ADC Stecker!) #define ADC_MULTIIO_LFS_L 1 // PortF.1 ADC-Mxxx: ADC #define ADC_MULTIIO_LFS_M 3 // PortF.3 ADC-Mxxx: ADC #define ADC_MULTIIO_LFS_R 5 // PortF.5 ADC-Mxxx: ADC #define ADC_MULTIIO_BUMPER_L 0 // PortF.0 ADC-Mxxx: ADC #define ADC_MULTIIO_BUMPER_R 4 // PortF.4 ADC-Mxxx: ADC #define ADC_MULTIIO_SHARP_L 7 // PortF.7 ADC-Mxxx: ADC #define ADC_MULTIIO_SHARP_R 2 // PortF.2 ADC-Mxxx: ADC // Andere IO Portpin Definitionen: // (Der IO-Mxxx Stecker ist verbunden mit dem M128 I/O Stecker!) #define IO_MULTIIO_LFS_PWR_PORT 31 // PortD.7 IO-Mxxx: I/O #define IO_MULTIIO_SHARPS_PWR_PORT 14 // PortB.6 IO-Mxxx: I/O #define IO_MULTIIO_SNAKE_SWITCH_PORT 30 // PortD.6 IO-Mxxx: I/O #define IO_MULTIIO_SNAKE_KEY_PORT 27 // PortD.3 IO-Mxxx: I/O #define IO_MULTIIO_DCF77_PORT 13 // PortB.5 IO-Mxxx: I/O /*****************************************************************************/ // Ende Definitionen
Erklärung
Demo
Erklärung
RP6 CONTROL M32
Die RP6-Control-M32 (= "M32") kann über den I2C-Bus alle I2C-Sensoren und I2C-Aktoren ansteuern und hat mit ihren freien Ressourcen (Portpins) gute Voraussetzungen, um die weiteren Funktionen der Multi IO Platine zu nutzen. Dazu wird sie (wenn alle Funktionen gleichzeitig genutzt werden sollen) mit zwei Steckverbindungen angeschlossen:
- IO-Mxxx <-> I/O
- ADC-Mxxx <-> ADC
Dadurch ergeben sich umfangreiche Möglichkeiten, die Sensoren der Multi IO Platine auszulesen und Aktoren zu schalten. Die folgenden 2 Tabellen zeigen die Verbindungen:
Stecker IO-Mxxx:
| Stecker-Pin | M32-Port | M32-Funktion | Multi IO-Funktion | I/O |
| 1 | PC7 | TOSC2 | DCF77 | I |
| 2 | GND | |||
| 3 | PC5 | TDI | SHARPS_PWR | O |
| 4 | PC6 | TOSC1 | SNAKE_SWITCH | O |
| 5 | PC3 | TMS | BUZZER | O |
| 6 | PC4 | TDO | (TX *) | |
| 7 | PC2 | TCK | SNAKE_KEY / (TX *) | I |
| 8 | PD6 | ICP | (RX *) | |
| 9 | PD5 | OC1A | LFS_PWR | O |
| 10 | VDD |
Zu *) UART nicht am I/O Stecker der M32 vorhanden!
Stecker ADC-Mxxx:
| Stecker-Pin | M32-Port | M32-Funktion | Multi IO-Funktion | I/O |
| 1 | PA3 | ADC3 | TOUCH / LFS_L | I |
| 2 | PA2 | ADC2 | 3V3 alt.2 | I |
| 3 | PA4 | ADC4 | 3V3 / LFS_M | I |
| 4 | GND | |||
| 5 | PA5 | ADC5 | LFS_R | I |
| 6 | GND | |||
| 7 | PA6 | ADC6 | BUTTONS | I |
| 8 | GND | |||
| 9 | PA7 | ADC7 | 3V3 alt.1 | I |
| 10 | VDD |
Multi IO Projekt Library
Diese Avr-gcc Library für das Multi IO Projekt Board (= "MultiIO") geht von folgenden Voraussetzungen aus:
- Die RP6-Control-M32 (= "M32") wird für die Ansteuerung der MultiIO benutzt.
- Die M32 ist der I2C-Bus Master.
- Die I2C-Bus Geschwindigkeit beträgt 100 kHz.
- Alle Hardware-Komponenten der MultiIO sind aufgebaut (1).
- Alle Jumper auf der MultiIO sind in ihrer Standardstellung (2).
- Die MultiIO und die M32 sind mit dem XBUS des RP6-Systems 1:1 verbunden.
- Der Wannenstecker IO_Mxxx der MultiIO ist mit dem Wannenstecker I/O der M32 1:1 verbunden.
- Der Wannenstecker ADC_Mxxx der MultiIO ist mit dem Wannenstecker ADC der M32 1:1 verbunden.
Zu (1): Wenn nicht alle Komponenten aufgebaut sind, sind die zugehörigen
Funktionen natürlich nicht funktionsfähig und können nicht benutzt
werden.
Zu (2): Siehe hier!
Abweichende IO-Jumperstellung für die M32
Die rote Doppellinie bedeutet: Hier NIE einen Jumper aufstecken!!!
Analoge Sensoren auf dem Bumper Board
Mit dem Wahl-Jumper-Block (s.o. Abbildung "Abweichende IO-Jumperstellung für die M32"!) sind die Signalleitungen ("SigL" und "SigR") des Bumper Boards mit "SCL" und "SDA", also mit dem I2C-Bus verbunden (z.B. für SRF02). Will man stattdessen analoge Sensoren (SHARP, Radar) auf dem Bumper Board nutzen, dann kann man mit dem Wahl-Jumper-Block leider keine analogen (ADC-) Eingänge dafür auswählen, weil "PF4" und "PF3" nur auf der M256 als ADC-Eingänge verfügbar sind.
Eine mögliche Lösung ist die Nutzung der beiden freien ADC-Kanäle 2 (ADC_2) und 7 (ADC_7) der M32 für die analogen Sensoren auf dem Bumper Board. Die folgende Abbildung zeigt die dafür nötigen Verbindungen:
Bumper anschliessen
Mit der M32 lassen sich leider auch die Bumper Taster auf dem Bumper Board nicht direkt auswerten, weil die Signalleitungen ("ON-L" und "ON-R") der Bumper Taster an "J_ADC" Pins 4 und 8 nicht mit Portpins der M32 zu verbinden sind.
Eine mögliche Lösung ist die Nutzung der beiden freien I/O-Portpins PD6 (IO_PD6) und PC4 (IO_PC4) der M32 für die Bumper Taster auf dem Bumper Board. Die folgende Abbildung zeigt die dafür nötigen Verbindungen:
Die Library (Software-Bibliothek) besteht aus drei Teilen:
- Dem Configuration Header -> Hier stehen alle Definitionen und Festlegungen, die der grundlegenden Konfiguration der MultiIO dienen. Diese Datei kann auf die eigenen Hardware-Voraussetzungen angepaßt werden, ohne dass die eigentliche Library (Header und Source) verändert werden muss.
- Dem Library Header -> Hier gibt es Definitionen, Variablen- und Funktionsdeklarationen für die Library.
- Der Library Source -> Das ist die eigentliche Library.
Configuration Header
Datei: RP6Control_MultiIO.h:
/* * **************************************************************************** * RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples * **************************************************************************** * Example: RP6Control MultiIO Library * Author(s): Dirk * **************************************************************************** * Description: * Configuration header file for new MultiIO Project Board library. * * **************************************************************************** */ #ifndef RP6CONTROL_MULTIIO_H #define RP6CONTROL_MULTIIO_H /*****************************************************************************/ // MultiIO hardwired components: // - I2C Voltage & Current Sensor (LTC2990) // - I2C Real Time Clock (RTC DS1307Z) // - I2C Temperature Sensor (TCN75A) // - I2C Servo Controller (PCA9685) // - I2C EEPROM (24LCXXX) // - 3V3 Voltage Sensor // - Touch Sensor (with NE555) // - Buttons // - LEDs // - Buzzer /*****************************************************************************/ // I2C Voltage & Current Sensor (LTC2990): #define I2C_MULTIIO_VCS_ADR 0x98 // ADR1/0 = 0/0 //#define I2C_MULTIIO_VCS_ADR 0x9a // ADR1/0 = 0/1 //#define I2C_MULTIIO_VCS_ADR 0x9c // ADR1/0 = 1/0 //#define I2C_MULTIIO_VCS_ADR 0x9e // ADR1/0 = 1/1 //#define I2C_MULTIIO_VCS_ADR 0xee // Global sync address // (Shunt resistor, current and voltage adjustment!) #define SHUNT_R 0.051 // R10 [Ohm] #define C_ADJUST 2.0 // Current adjust factor #define C_OFFSET 0.0 // Current offset [mA] #define VBAT_ADJUST 3.2 // (R13 + R14) / R14 #define VSERVO_ADJUST 2.5 // (R32 + R22) / R22 /*****************************************************************************/ // I2C Real Time Clock (RTC DS1307Z): #define I2C_MULTIIO_RTC_ADR 0xD0 // Default /*****************************************************************************/ // I2C Temperature Sensor (TCN75A): // (A1 always 0!) #define I2C_MULTIIO_TEMP_ADR 0x90 // A2/0 = 0/0 //#define I2C_MULTIIO_TEMP_ADR 0x92 // A2/0 = 0/1 //#define I2C_MULTIIO_TEMP_ADR 0x98 // A2/0 = 1/0 //#define I2C_MULTIIO_TEMP_ADR 0x9a // A2/0 = 1/1 /*****************************************************************************/ // I2C Servo Controller (PCA9685): // (A5, A4, A3, A2 always 0!) #define I2C_MULTIIO_SERVO_ADR 0x80 // A1/0 = 0/0 //#define I2C_MULTIIO_SERVO_ADR 0x82 // A1/0 = 0/1 //#define I2C_MULTIIO_SERVO_ADR 0x84 // A1/0 = 1/0 //#define I2C_MULTIIO_SERVO_ADR 0x86 // A1/0 = 1/1 //#define I2C_MULTIIO_SERVO_ADR 0xe0 // ALLCALLADR // (Servo power is connected to LED8 of the PCA9685!) #define CHSERVOPWR 9 // Servo left touch (LT), right touch (RT), middle position (MP) constants: // (Hints: - Servo impulse length [ms] = Servo position value / 204.8 // (Formula only valid for a PWM of 50 Hz!) // - Min. servo impulse (0,7 ms) = Servo position 143 // - Mid. servo impulse (1,5 ms) = Servo position 307 // - Max. servo impulse (2,3 ms) = Servo position 471 // - !!! You should NOT use servo position values < 143 or > 471 !!!) #define SERVO1_LT 205 // Servo impulse ~1ms #define SERVO1_RT 410 // Servo impulse ~2ms #define SERVO1_MP ((SERVO1_RT - SERVO1_LT) / 2 + SERVO1_LT) #define SERVO2_LT 205 #define SERVO2_RT 410 #define SERVO2_MP ((SERVO2_RT - SERVO2_LT) / 2 + SERVO2_LT) #define SERVO3_LT 205 #define SERVO3_RT 410 #define SERVO3_MP ((SERVO3_RT - SERVO3_LT) / 2 + SERVO3_LT) #define SERVO4_LT 205 #define SERVO4_RT 410 #define SERVO4_MP ((SERVO4_RT - SERVO4_LT) / 2 + SERVO4_LT) #define SERVO5_LT 205 #define SERVO5_RT 410 #define SERVO5_MP ((SERVO5_RT - SERVO5_LT) / 2 + SERVO5_LT) #define SERVO6_LT 205 #define SERVO6_RT 410 #define SERVO6_MP ((SERVO6_RT - SERVO6_LT) / 2 + SERVO6_LT) #define SERVO7_LT 205 #define SERVO7_RT 410 #define SERVO7_MP ((SERVO7_RT - SERVO7_LT) / 2 + SERVO7_LT) #define SERVO8_LT 205 #define SERVO8_RT 410 #define SERVO8_MP ((SERVO8_RT - SERVO8_LT) / 2 + SERVO8_LT) /*****************************************************************************/ // I2C EEPROM (24LCXXX): // (A2=1 not usable with 24LC1024-P!) #define I2C_MULTIIO_EEPROM_ADR 0xA0 // A2/1/0 = 0/0/0 //#define I2C_MULTIIO_EEPROM_ADR 0xA2 // A2/1/0 = 0/0/1 //#define I2C_MULTIIO_EEPROM_ADR 0xA4 // A2/1/0 = 0/1/0 //#define I2C_MULTIIO_EEPROM_ADR 0xA6 // A2/1/0 = 0/1/1 //#define I2C_MULTIIO_EEPROM_ADR 0xA8 // A2/1/0 = 1/0/0 //#define I2C_MULTIIO_EEPROM_ADR 0xAA // A2/1/0 = 1/0/1 //#define I2C_MULTIIO_EEPROM_ADR 0xAC // A2/1/0 = 1/1/0 //#define I2C_MULTIIO_EEPROM_ADR 0xAE // A2/1/0 = 1/1/1 // I2C-EEPROM storage capacity [kbit]: #define I2C_EEPROM_KBIT 32 // 24LC32-P <== Default //#define I2C_EEPROM_KBIT 64 // 24LC64-P //#define I2C_EEPROM_KBIT 128 // 24LC128-P //#define I2C_EEPROM_KBIT 256 // 24LC256-P //#define I2C_EEPROM_KBIT 512 // 24LC512-P //#define I2C_EEPROM_KBIT 1024 // 24LC1024-P // I2C-EEPROM pagesize [byte]: // ATTENTION: The pagesize must fit to the EEPROM type defined above! #define I2C_EEPROM_PAGESIZE 32 // EEPROM 32 or 64 kbit //#define I2C_EEPROM_PAGESIZE 64 // EEPROM 128 or 256 kbit //#define I2C_EEPROM_PAGESIZE 128 // EEPROM 512 kbit //#define I2C_EEPROM_PAGESIZE 256 // EEPROM 1024 kbit /*****************************************************************************/ // 3V3 Voltage Sensor: #define ADC_MULTIIO_3V3 ADC_4 // ADC-Mxxx: ADC //#define ADC_MULTIIO_3V3 ADC_7 // ADC-Mxxx: ADC //#define ADC_MULTIIO_3V3 ADC_2 // ADC-Mxxx: ADC /*****************************************************************************/ // Touch Sensor (with NE555): #define ADC_MULTIIO_TOUCH ADC_3 // ADC-Mxxx: ADC #define ADCVAL_NOTOUCH 15 #define ADCVAL_TOUCH 1020 #define ADCVAL_LIMIT_T ((ADCVAL_TOUCH - ADCVAL_NOTOUCH) / 2 + ADCVAL_NOTOUCH) /*****************************************************************************/ // Buttons: #define ADC_MULTIIO_BUTTONS ADC_6 // ADC-Mxxx: ADC #define ADCVAL_BUTTON1 14 #define ADCVAL_BUTTON2 577 #define ADCVAL_BUTTON3 736 #define ADCVAL_BUTTON4 812 #define ADCVAL_LIMIT12 ((ADCVAL_BUTTON2 - ADCVAL_BUTTON1) / 2 + ADCVAL_BUTTON1) #define ADCVAL_LIMIT23 ((ADCVAL_BUTTON3 - ADCVAL_BUTTON2) / 2 + ADCVAL_BUTTON2) #define ADCVAL_LIMIT34 ((ADCVAL_BUTTON4 - ADCVAL_BUTTON3) / 2 + ADCVAL_BUTTON3) #define ADCVAL_LIMIT40 ((1023 - ADCVAL_BUTTON4) / 2 + ADCVAL_BUTTON4) /*****************************************************************************/ // LEDs: // (Status LED1..LED4 are connected to LED15..LED12 of the PCA9685!) #define CHLED1 16 #define CHLED2 15 #define CHLED3 14 #define CHLED4 13 /*****************************************************************************/ // Buzzer: // (The IO-Mxxx plug is connected to the M32 I/O plug!) #define IO_MULTIIO_BUZZER_IN IO_PC3 // IO-Mxxx: I/O #define IO_MULTIIO_BUZZER_DDR DDRC #define IO_MULTIIO_BUZZER_PORT PORTC /*****************************************************************************/ // Other ADC channel definitions: // (Depending on jumper settings on the MultiIO Project Board!) // (The ADC-Mxxx plug is connected to the M32 ADC plug!) #define ADC_MULTIIO_LFS_L ADC_3 // ADC-Mxxx: ADC #define ADC_MULTIIO_LFS_M ADC_4 // ADC-Mxxx: ADC #define ADC_MULTIIO_LFS_R ADC_5 // ADC-Mxxx: ADC #define ADC_MULTIIO_SHARP_L ADC_2 // ADC-Mxxx: ADC #define ADC_MULTIIO_SHARP_R ADC_7 // ADC-Mxxx: ADC // Other IO portpin definitions: // (The IO-Mxxx plug is connected to the M32 I/O plug!) #define IO_MULTIIO_LFS_PWR_IN IO_PD5 // IO-Mxxx: I/O #define IO_MULTIIO_LFS_PWR_DDR DDRD #define IO_MULTIIO_LFS_PWR_PORT PORTD #define IO_MULTIIO_SHARPS_PWR_IN IO_PC5 // IO-Mxxx: I/O #define IO_MULTIIO_SHARPS_PWR_DDR DDRC #define IO_MULTIIO_SHARPS_PWR_PORT PORTC #define IO_MULTIIO_SNAKE_SWITCH_IN IO_PC6 // IO-Mxxx: I/O #define IO_MULTIIO_SNAKE_SWITCH_DDR DDRC #define IO_MULTIIO_SNAKE_SWITCH_PORT PORTC #define IO_MULTIIO_SNAKE_KEY_IN IO_PC2 // IO-Mxxx: I/O #define IO_MULTIIO_SNAKE_KEY_DDR DDRC #define IO_MULTIIO_SNAKE_KEY_PIN PINC #define IO_MULTIIO_DCF77_IN IO_PC7 // IO-Mxxx: I/O #define IO_MULTIIO_DCF77_DDR DDRC #define IO_MULTIIO_DCF77_PIN PINC #define IO_MULTIIO_BUMPER_R_IN IO_PC4 // IO-Mxxx: I/O #define IO_MULTIIO_BUMPER_R_DDR DDRC #define IO_MULTIIO_BUMPER_R_PIN PINC #define IO_MULTIIO_BUMPER_R_PORT PORTC #define IO_MULTIIO_BUMPER_L_IN IO_PD6 // IO-Mxxx: I/O #define IO_MULTIIO_BUMPER_L_DDR DDRD #define IO_MULTIIO_BUMPER_L_PIN PIND #define IO_MULTIIO_BUMPER_L_PORT PORTD /*****************************************************************************/ #endif /****************************************************************************** * Additional info * **************************************************************************** * Changelog: * * ---> changes are documented in the file "RP6Control_MultiIOLib.c" * * **************************************************************************** */ /*****************************************************************************/ // EOF
Library Header
Datei RP6Control_MultiIOLib.h:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples
* ****************************************************************************
* Example: RP6Control MultiIO Library
* Author(s): Dirk
* ****************************************************************************
* Description:
* Header file for new MultiIO Project Board library.
*
* ****************************************************************************
*/
#ifndef RP6CONTROL_MULTIIOLIB_H
#define RP6CONTROL_MULTIIOLIB_H
/*****************************************************************************/
// MultiIO hardwired components:
// - I2C Voltage & Current Sensor (LTC2990)
// - I2C Real Time Clock (RTC DS1307Z)
// - I2C Temperature Sensor (TCN75A)
// - I2C Servo Controller (PCA9685)
// - I2C EEPROM (24LCXXX)
// - 3V3 Voltage Sensor
// - Touch Sensor (with NE555)
// - Buttons
// - LEDs
// - Buzzer
/*****************************************************************************/
// Includes:
#include "RP6ControlLib.h"
#include "RP6I2CmasterTWI.h"
#include "RP6Control_MultiIO.h"
/*****************************************************************************/
// I2C Voltage & Current Sensor (LTC2990):
// Registers:
#define LTC2990_STATUS 0
#define LTC2990_CONTROL 1
#define LTC2990_TRIGGER 2
#define LTC2990_TINT_MSB 4
#define LTC2990_TINT_LSB 5
#define LTC2990_V1_MSB 6
#define LTC2990_V1_LSB 7
#define LTC2990_V2_MSB 8
#define LTC2990_V2_LSB 9
#define LTC2990_V3_MSB 10
#define LTC2990_V3_LSB 11
#define LTC2990_V4_MSB 12
#define LTC2990_V4_LSB 13
#define LTC2990_VCC_MSB 14
#define LTC2990_VCC_LSB 15
// Status register bitmasks:
#define LTC2990_STATUS_DEFAULT 0
#define LTC2990_STATUS_BUSY 1
#define LTC2990_STATUS_TINT_READY 2
#define LTC2990_STATUS_V1V2_READY 4
#define LTC2990_STATUS_V2_READY 8
#define LTC2990_STATUS_V3V4_READY 16
#define LTC2990_STATUS_V4_READY 32
#define LTC2990_STATUS_VCC_READY 64
// Control register bitmasks:
#define LTC2990_CONTROL_DEFAULT 0
#define LTC2990_CONTROL_MULTIIO 0b01011010 // Mode V1-V2, V3, V4
// All measurements per mode
// Single acquisition
#define LTC2990_CONTROL_MODE02_DEFAULT 0
#define LTC2990_CONTROL_MODE34_DEFAULT 0
#define LTC2990_CONTROL_REPEAT_SINGLE 64
#define LTC2990_CONTROL_TEMP_FORMAT 128
extern double tint;
extern double cbat;
extern double vbat;
extern double vservo;
extern double vcc;
void LTC2990_write_cfg(uint8_t);
#define LTC2990_init() {LTC2990_write_cfg(LTC2990_CONTROL_MULTIIO);}
void LTC2990_run(void);
void LTC2990_read(void);
void LTC2990_calculate(void);
void LTC2990_measure(void);
/*****************************************************************************/
// I2C Real Time Clock (RTC DS1307Z):
// Registers:
#define DS1307_SECONDS 0
#define DS1307_MINUTES 1
#define DS1307_HOURS 2
#define DS1307_DAY 3
#define DS1307_DATE 4
#define DS1307_MONTH 5
#define DS1307_YEAR 6
#define DS1307_CONTROL 7
#define DS1307_RAM 8
// Control register bitmasks:
#define DS1307_CONTROL_DEFAULT 0
#define DS1307_CONTROL_RS0 1
#define DS1307_CONTROL_RS1 2
#define DS1307_CONTROL_SQWE 16
#define DS1307_CONTROL_OUT 128
enum RTCWEEKDAYS {
R_MO = 1, R_TU, R_WE, R_TH, R_FR, R_SA, R_SU
};
typedef struct {
uint16_t year; // Year
uint8_t month; // Month [1..12]
enum RTCWEEKDAYS weekday; // Weekday [1..7 = R_MO..R_SU]
uint8_t day; // Day [1..31]
} rtcdate_t;
rtcdate_t rtc_date;
typedef struct {
uint8_t dst; // Daylight-saving-time (time zone)
uint8_t hour; // Hour [0..23]
uint8_t minute; // Minute [0..59]
uint8_t second; // Second [0..59]
} rtctime_t;
rtctime_t rtc_time;
uint8_t BCD2DEC(uint8_t);
uint8_t DEC2BCD(uint8_t);
void DS1307_write_cfg(uint8_t);
void DS1307_init(void);
#define CALC_DST // Time zone will be calculated
void DS1307_read(void);
void DS1307_write(void);
uint8_t DS1307_readRAM(uint8_t);
void DS1307_writeRAM(uint8_t, uint8_t);
/*****************************************************************************/
// I2C Temperature Sensor (TCN75A):
// Registers:
#define TCN75_TEMP 0
#define TCN75_CONFIG 1
#define TCN75_HYST 2
#define TCN75_LIMIT 3
// Config register bitmasks:
#define TCN75_CONFIG_RUN 0 // Default
#define TCN75_CONFIG_SHUTDOWN 1
#define TCN75_CONFIG_COMP 0 // Default
#define TCN75_CONFIG_INT 2
#define TCN75_CONFIG_ALERT_LOW 0 // Default
#define TCN75_CONFIG_ALERT_HIGH 4
#define TCN75_CONFIG_FAULT_1 0 // Default
#define TCN75_CONFIG_FAULT_2 8
#define TCN75_CONFIG_FAULT_4 16
#define TCN75_CONFIG_FAULT_6 24
// Only for the TCN75A - high resolution and OneShot mode:
#define TCN75A_CONFIG_RES_9 0 // Default
#define TCN75A_CONFIG_RES_10 32 // 0b00100000
#define TCN75A_CONFIG_RES_11 64 // 0b01000000
#define TCN75A_CONFIG_RES_12 96 // 0b01100000
#define TCN75A_CONFIG_ONESHOT_DISABLED 0 // Default
#define TCN75A_CONFIG_ONESHOT 128 // 0b10000000
extern double temperature;
void TCN75_write_cfg(uint8_t);
#define TCN75_shutdown() {TCN75_write_cfg(TCN75_CONFIG_SHUTDOWN);}
#define TCN75_run(__CONFIG__) {TCN75_write_cfg(__CONFIG__);}
extern uint8_t temperature_low;
extern uint8_t temperature_high;
#define getTemperatureHigh() (temperature_high)
#define getTemperatureLow() (temperature_low)
void TCN75_read(void);
double TCN75_calculate(void);
double TCN75_measure(void);
/*****************************************************************************/
// I2C Servo Controller (PCA9685):
// Registers:
#define PCA9685_MODE1 0
#define PCA9685_MODE2 1
#define PCA9685_SUBADR1 2
#define PCA9685_SUBADR2 3
#define PCA9685_SUBADR3 4
#define PCA9685_ALLCALLADR 5
#define PCA9685_LED0_ON_L 6
#define PCA9685_LED0_ON_H 7
#define PCA9685_LED0_OFF_L 8
#define PCA9685_LED0_OFF_H 9
#define PCA9685_LED1_ON_L 10
#define PCA9685_LED1_ON_H 11
#define PCA9685_LED1_OFF_L 12
#define PCA9685_LED1_OFF_H 13
#define PCA9685_LED2_ON_L 14
#define PCA9685_LED2_ON_H 15
#define PCA9685_LED2_OFF_L 16
#define PCA9685_LED2_OFF_H 17
#define PCA9685_LED3_ON_L 18
#define PCA9685_LED3_ON_H 19
#define PCA9685_LED3_OFF_L 20
#define PCA9685_LED3_OFF_H 21
#define PCA9685_LED4_ON_L 22
#define PCA9685_LED4_ON_H 23
#define PCA9685_LED4_OFF_L 24
#define PCA9685_LED4_OFF_H 25
#define PCA9685_LED5_ON_L 26
#define PCA9685_LED5_ON_H 27
#define PCA9685_LED5_OFF_L 28
#define PCA9685_LED5_OFF_H 29
#define PCA9685_LED6_ON_L 30
#define PCA9685_LED6_ON_H 31
#define PCA9685_LED6_OFF_L 32
#define PCA9685_LED6_OFF_H 33
#define PCA9685_LED7_ON_L 34
#define PCA9685_LED7_ON_H 35
#define PCA9685_LED7_OFF_L 36
#define PCA9685_LED7_OFF_H 37
#define PCA9685_LED8_ON_L 38
#define PCA9685_LED8_ON_H 39
#define PCA9685_LED8_OFF_L 40
#define PCA9685_LED8_OFF_H 41
#define PCA9685_LED9_ON_L 42
#define PCA9685_LED9_ON_H 43
#define PCA9685_LED9_OFF_L 44
#define PCA9685_LED9_OFF_H 45
#define PCA9685_LED10_ON_L 46
#define PCA9685_LED10_ON_H 47
#define PCA9685_LED10_OFF_L 48
#define PCA9685_LED10_OFF_H 49
#define PCA9685_LED11_ON_L 50
#define PCA9685_LED11_ON_H 51
#define PCA9685_LED11_OFF_L 52
#define PCA9685_LED11_OFF_H 53
#define PCA9685_LED12_ON_L 54
#define PCA9685_LED12_ON_H 55
#define PCA9685_LED12_OFF_L 56
#define PCA9685_LED12_OFF_H 57
#define PCA9685_LED13_ON_L 58
#define PCA9685_LED13_ON_H 59
#define PCA9685_LED13_OFF_L 60
#define PCA9685_LED13_OFF_H 61
#define PCA9685_LED14_ON_L 62
#define PCA9685_LED14_ON_H 63
#define PCA9685_LED14_OFF_L 64
#define PCA9685_LED14_OFF_H 65
#define PCA9685_LED15_ON_L 66
#define PCA9685_LED15_ON_H 67
#define PCA9685_LED15_OFF_L 68
#define PCA9685_LED15_OFF_H 69
#define PCA9685_ALL_LED_ON_L 250
#define PCA9685_ALL_LED_ON_H 251
#define PCA9685_ALL_LED_OFF_L 252
#define PCA9685_ALL_LED_OFF_H 253
#define PCA9685_PRE_SCALE 254
#define PCA9685_TESTMODE 255
// Mode1 register bitmasks:
#define PCA9685_MODE1_ALLCALL 1
#define PCA9685_MODE1_SUB3 2
#define PCA9685_MODE1_SUB2 4
#define PCA9685_MODE1_SUB1 8
#define PCA9685_MODE1_SLEEP 16
#define PCA9685_MODE1_AI 32
#define PCA9685_MODE1_EXTCLK 64
#define PCA9685_MODE1_RESTART 128
// Mode2 register bitmasks:
#define PCA9685_MODE2_OUTNE01_DEFAULT 0
#define PCA9685_MODE2_OUTDRV 4
#define PCA9685_MODE2_OCH 8
#define PCA9685_MODE2_INVRT 16
#define F_PCA9685 25000000.0 // Int. Clock: 25 MHz
void PCA9685_init(uint16_t);
#define initServo(__FREQ__) {PCA9685_init(__FREQ__);}
void PCA9685_set(uint8_t, uint16_t);
#define setServo(__SERVO__,__POS__) {PCA9685_set(__SERVO__,__POS__);}
void PCA9685_shutdown(void);
void PCA9685_restart(void);
void setServoPower(uint8_t);
/*****************************************************************************/
// I2C EEPROM (24LCXXX):
uint8_t I2C_EEPROM_readByte(uint16_t memAddr);
void I2C_EEPROM_writeByte(uint16_t memAddr, uint8_t data);
void I2C_EEPROM_readBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length);
void I2C_EEPROM_writeBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length);
/*****************************************************************************/
// 3V3 Voltage Sensor:
extern uint16_t adc3v3;
extern double v3v3;
uint16_t get3V3Sensor(void);
double calculate3V3(void);
double measure3V3(void);
/*****************************************************************************/
// Touch Sensor (with NE555):
extern uint16_t adcTouch;
extern uint8_t touch;
uint8_t getTouch(void);
/*****************************************************************************/
// Buttons:
extern uint16_t adcButtons;
extern uint8_t releasedMultiIOButtonNumber;
extern uint8_t pressedMultiIOButtonNumber;
uint8_t getMultiIOPressedButtonNumber(void);
uint8_t checkMultiIOPressedButtonEvent(void);
uint8_t checkMultiIOReleasedButtonEvent(void);
/*****************************************************************************/
// LEDs:
void setMultiIOLEDs(uint8_t leds);
void dimMultiIOLED(uint8_t led, uint16_t duty);
void setMultiIOLED1(uint8_t led);
void setMultiIOLED2(uint8_t led);
void setMultiIOLED3(uint8_t led);
void setMultiIOLED4(uint8_t led);
/*****************************************************************************/
// Buzzer:
void Buzzer_init(void);
void buzzer(uint16_t);
/*****************************************************************************/
// MultiIO Project Board initialisation and shutdown:
void multiio_init(void);
void multiio_shutdown(void);
/*****************************************************************************/
#endif
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
*
* ---> changes are documented in the file "RP6Control_MultiIOLib.c"
*
* ****************************************************************************
*/
/*****************************************************************************/
// EOF
Library Source
Datei RP6Control_MultiIOLib.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples
* ****************************************************************************
* Example: RP6Control MultiIO Library
* Author(s): Dirk
* ****************************************************************************
* Description:
*
* This is our new Library that contains basic routines and functions for
* accessing the hardwired components of the MultiIO Project Board.
*
* There are much more sensors, that may be connected to the MultiIO Project
* Board: Line following sensors (5x CNY70), bumpers, "Snake Vision board",
* LDRs, I2C air pressure sensor, I2C humidity sensor, DCF77 module,
* I2C IMU, I2C ultrasonic distance sensors, GPS module and more
* sensors connected to free ADCs and IOs and to the I2C bus.
* This library doesn't contain functions for these sensors, because they are
* not HARDWIRED to the MultiIO Project Board and may be connected OPTIONALLY.
*
* ****************************************************************************
*/
/*****************************************************************************/
// MultiIO hardwired components:
// - I2C Voltage & Current Sensor (LTC2990)
// - I2C Real Time Clock (RTC DS1307Z)
// - I2C Temperature Sensor (TCN75A)
// - I2C Servo Controller (PCA9685)
// - I2C EEPROM (24LCXXX)
// - 3V3 Voltage Sensor
// - Touch Sensor (with NE555)
// - Buttons
// - LEDs
// - Buzzer
/*****************************************************************************/
// Includes:
#include "RP6Control_MultiIOLib.h"
/*****************************************************************************/
// Variables:
uint8_t registerBuf[13];
/*****************************************************************************/
// I2C Voltage & Current Sensor (LTC2990):
/**
* Sends the configuration byte to a LTC2990.
*
* Input: Config byte for control register
*
* There is also a macro LTC2990_init(), which
* initializes the sensor to work in V1-V2, V3,
* V4 and Single Acquisition mode.
*
* Example:
* LTC2990_init();
*
*/
void LTC2990_write_cfg(uint8_t config)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_VCS_ADR, LTC2990_CONTROL, config);
}
uint8_t vcs_tint_low;
uint8_t vcs_tint_high;
uint8_t vcs_v1_low;
uint8_t vcs_v1_high;
uint8_t vcs_v2_low;
uint8_t vcs_v2_high;
uint8_t vcs_v3_low;
uint8_t vcs_v3_high;
uint8_t vcs_v4_low;
uint8_t vcs_v4_high;
uint8_t vcs_vcc_low;
uint8_t vcs_vcc_high;
/**
* Starts a Single Acquisition measurement.
*/
void LTC2990_run(void)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_VCS_ADR, LTC2990_TRIGGER, 0);
}
/**
* Reads all data registers of the voltage & current
* sensor (VCS).
* They are stored in the variables defined above.
*/
void LTC2990_read(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_VCS_ADR, LTC2990_TINT_MSB);
I2CTWI_readBytes(I2C_MULTIIO_VCS_ADR, registerBuf, 12);
vcs_tint_high = registerBuf[0];
vcs_tint_low = registerBuf[1];
vcs_v1_high = registerBuf[2];
vcs_v1_low = registerBuf[3];
vcs_v2_high = registerBuf[4];
vcs_v2_low = registerBuf[5];
vcs_v3_high = registerBuf[6];
vcs_v3_low = registerBuf[7];
vcs_v4_high = registerBuf[8];
vcs_v4_low = registerBuf[9];
vcs_vcc_high = registerBuf[10];
vcs_vcc_low = registerBuf[11];
}
double tint; // Internal temperature
double cbat; // Current at 9V
double vbat; // Battery voltage 9V (BAT)
double vservo; // Servo voltage 5 .. 7.5V
double vcc; // Voltage 5V (VCC)
/**
* Calculates the temperature, voltage and current
* values by using the data read from the LTC2990
* with the function LTC2990_read(). The sensor is
* configured to work in V1-V2, V3, V4 and Single
* Acquisition mode.
* The result is stored in the double variables
* defined above.
*/
void LTC2990_calculate(void)
{
int16_t tmp;
double v2;
tmp = (((vcs_tint_high & 0x1f) << 8) + vcs_tint_low) << 3;
tmp = tmp / 8;
tint = tmp / 16.0; // Internal temperature [°C]
tmp = (((vcs_v2_high & 0x7f) << 8) + vcs_v2_low) << 1;
tmp = tmp / 2;
v2 = tmp * 0.01942;
v2 *= C_ADJUST; // Current adjust factor
cbat = v2 / SHUNT_R + C_OFFSET; // Battery current [mA]
tmp = ((vcs_v3_high & 0x3f) << 8) + vcs_v3_low;
vbat = tmp * 0.00030518; // Battery voltage [V]
vbat *= VBAT_ADJUST; // Voltage divider factor
tmp = ((vcs_v4_high & 0x3f) << 8) + vcs_v4_low;
vservo = tmp * 0.00030518; // Servo voltage [V]
vservo *= VSERVO_ADJUST; // Voltage divider factor
tmp = ((vcs_vcc_high & 0x3f) << 8) + vcs_vcc_low;
vcc = 2.5 + tmp * 0.00030518; // VCC [V]
}
/**
* Performs a complete measurement with the sensor
* configured to work in V1-V2, V3, V4 and Single
* Acquisition mode.
* The result is stored in the double variables
* defined above.
* This function is BLOCKING for about 200 ms!
* If you don't want a blocking measurement, you
* have to write your own function with a non
* blocking pause between starting measurement
* and reading the result or with another mode
* of operation (Repeated Acquisitions).
*/
void LTC2990_measure(void)
{
LTC2990_run(); // Start measurement
mSleep(200);
LTC2990_read(); // Read data
LTC2990_calculate(); // Calculate values
}
/*****************************************************************************/
// I2C Real Time Clock (RTC DS1307Z):
/**
* This function converts a BCD to a DEC value.
*
*/
uint8_t BCD2DEC(uint8_t bcd)
{
return ((bcd >> 4) * 10 + (bcd & 0x0f));
}
/**
* This function converts a DEC to a BCD value.
*
*/
uint8_t DEC2BCD(uint8_t dec)
{uint8_t units = dec % 10;
if (dec /= 10) {
return (units + (DEC2BCD(dec) << 4));
}
else {
return units;
}
}
/**
* Sends the configuration byte to a DS1307.
*
* Input: Config byte for control register
*
*/
void DS1307_write_cfg(uint8_t config)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_RTC_ADR, DS1307_CONTROL, config);
}
/**
* Initializes the DS1307 by resetting all registers.
* Only use this function ONCE for a DS1307 without or
* with empty backup battery!
*/
void DS1307_init(void)
{
uint8_t i;
for (i = 0; i < 8; i++) {
registerBuf[i] = 0;
}
I2CTWI_transmitBytes(I2C_MULTIIO_RTC_ADR, ®isterBuf[0], 8);
}
/**
* Reads all data registers of the Real Time Clock (RTC).
* They are stored in the time & date variables defined in
* the library header.
*/
void DS1307_read(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_RTC_ADR, DS1307_SECONDS);
I2CTWI_readBytes(I2C_MULTIIO_RTC_ADR, registerBuf, 7);
rtc_time.second = BCD2DEC(registerBuf[0] & 0x7f);
rtc_time.minute = BCD2DEC(registerBuf[1]);
rtc_time.hour = BCD2DEC(registerBuf[2] & 0x3f);
rtc_date.weekday = registerBuf[3];
rtc_date.day = BCD2DEC(registerBuf[4]);
rtc_date.month = BCD2DEC(registerBuf[5]);
rtc_date.year = BCD2DEC(registerBuf[6]) + 2000;
rtc_time.dst = 0;
#ifdef CALC_DST
// Calculate MESZ (DST):
uint8_t wday = rtc_date.weekday; // Weekday [1..7 = R_MO..R_SU]
if(wday == 7) wday = 0;
if(rtc_date.month < 3 || rtc_date.month > 10) {
return;
}
if((rtc_date.day - wday >= 25)
&& (wday || rtc_time.hour >= 2)) {
if(rtc_date.month == 10)
return;
}
else {
if(rtc_date.month == 3) {
return;
}
}
rtc_time.dst = 1;
#endif
}
/**
* Writes the time & date infos in the variables defined in
* the library header to the Real Time Clock (RTC).
*/
void DS1307_write(void)
{
registerBuf[0] = DS1307_SECONDS;
registerBuf[1] = DEC2BCD(rtc_time.second);
registerBuf[2] = DEC2BCD(rtc_time.minute);
registerBuf[3] = DEC2BCD(rtc_time.hour);
registerBuf[4] = rtc_date.weekday;
registerBuf[5] = DEC2BCD(rtc_date.day);
registerBuf[6] = DEC2BCD(rtc_date.month);
registerBuf[7] = DEC2BCD(rtc_date.year - 2000);
I2CTWI_transmitBytes(I2C_MULTIIO_RTC_ADR, ®isterBuf[0], 8);
}
/**
* Reads and returns a data byte from the DS1307 RAM.
*
* Input: adr -> RAM address [0..55]
*
* Hints: - The real DS1307 RAM addresses are 8..63!
* - The RAM is nonvolatile. That means, that
* it keeps the data as long as the backup
* battery doesn't become weak!
*
*/
uint8_t DS1307_readRAM(uint8_t adr)
{
if (adr > 55) adr = 0;
I2CTWI_transmitByte(I2C_MULTIIO_RTC_ADR, (DS1307_RAM + adr));
return (I2CTWI_readByte(I2C_MULTIIO_RTC_ADR));
}
/**
* Writes a data byte to the DS1307 RAM.
*
* Input: adr -> RAM address [0..55]
* data -> Data byte [0..255]
*
* Hints: - The real DS1307 RAM addresses are 8..63!
* - The RAM is nonvolatile. That means, that
* it keeps the data as long as the backup
* battery doesn't become weak!
*
*/
void DS1307_writeRAM(uint8_t adr, uint8_t data)
{
if (adr > 55) adr = 0;
I2CTWI_transmit2Bytes(I2C_MULTIIO_RTC_ADR, (DS1307_RAM + adr), data);
}
/*****************************************************************************/
// I2C Temperature Sensor (TCN75A):
/**
* Sends the configuration byte to a TCN75A.
*
* Input: Config byte for config register
*
*/
void TCN75_write_cfg(uint8_t config)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_TEMP_ADR, TCN75_CONFIG, config);
}
uint8_t temperature_low;
uint8_t temperature_high;
/**
* Reads the two data registers of the temperature
* sensor.
* They are stored in the variables temperature_low
* and _high.
*
* Hint: Depending on the sensor configuration the
* data are located different in the two bytes
* - have a look at the datasheet!
*
*/
void TCN75_read(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_TEMP_ADR, TCN75_TEMP);
I2CTWI_readBytes(I2C_MULTIIO_TEMP_ADR, registerBuf, 2);
temperature_low = registerBuf[0];
temperature_high = registerBuf[1];
}
double temperature; // Temperature [°C]
/**
* Calculates and returns the temperature value
* by using the data read from the TCN75A with
* the function TCN75_read(). The sensor is
* configured to Single Conversion and 12 bit
* measurement.
*/
double TCN75_calculate(void)
{
uint8_t templow;
double temp;
templow = getTemperatureLow();
if (templow & 128) // Calculate temperature
templow = (templow & 63) - 127;
else
templow = templow & 63;
temp = templow + (0.0625 * (getTemperatureHigh() >> 4));
return temp;
}
/**
* Performs a 12 bit measurement and returns the
* temperature [°C].
* This function is BLOCKING for about 250 ms!
* If you don't want a blocking measurement, you
* have to write your own function with a non
* blocking pause between starting measurement
* and reading the result or with another mode
* of operation (Continuous Conversion).
*/
double TCN75_measure(void)
{
TCN75_run(TCN75A_CONFIG_RES_12); // Start measurement
mSleep(250);
TCN75_shutdown(); // Stop measurement
TCN75_read(); // Read data
return (TCN75_calculate()); // Calculate value
}
/*****************************************************************************/
// I2C Servo Controller (PCA9685):
/**
* Call this once before using the servo function.
*
* Input: PWM frequency [40..1000 Hz]
*
* Hints: - Default servo frequency is 50 Hz!
* - The servo power is NOT switched on by
* this function!
*
* There is also a macro initServo(freq), which
* does exactly the same as this function.
*
* Example:
* initServo(50);
*
*/
void PCA9685_init(uint16_t freq)
{
if ((freq < 40) || (freq > 1000)) freq = 50;
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE2);
uint8_t last_mode = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
last_mode &= ~PCA9685_MODE2_INVRT; // Clear INVRT bit
last_mode |= PCA9685_MODE2_OUTDRV; // Set OUTDRV bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE2, last_mode);
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1);
last_mode = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
last_mode |= PCA9685_MODE1_AI; // Set AI bit
uint8_t mode1 = last_mode;
mode1 |= PCA9685_MODE1_SLEEP; // Set SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
uint8_t prescale = (uint8_t) (F_PCA9685 / 4096 / freq - 0.5);
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_PRE_SCALE, prescale);
last_mode &= ~PCA9685_MODE1_SLEEP; // Clear SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, last_mode);
mSleep(1);
last_mode |= PCA9685_MODE1_RESTART; // Clear RESTART bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, last_mode);
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_LED8_ON_H, 0x10);
return;
}
/**
* This is the servo position set function.
*
* Input: servo -> Servo number [1..8, 10..16]
* pos -> Servo position [SERVOx_LT..SERVOx_RT]
*
* Hints: - Servo number 9 cannot be set by this function!
* Please use setServoPower() function instead!
* - A servo position of 205 means 1 ms servo impulse,
* a position of 410 means a 2 ms servo impulse!
* You may calculate the servo impulse length by:
* ==> Impulse [ms] = servo position / 204.8 <==
* (Formula only valid for a PWM of 50 Hz!)
*
* There is also a macro setServo(servo, pos), which
* does exactly the same as this function.
*
* Example:
* setServo(2,300);
*
*/
void PCA9685_set(uint8_t servo, uint16_t pos)
{
if ((servo == 0) || (servo == CHSERVOPWR) || (servo > 16))
return;
uint8_t reg = servo * 4 + 4; // Register LEDx_OFF_L
I2CTWI_transmit3Bytes(I2C_MULTIIO_SERVO_ADR, reg, (pos & 0x00ff), (pos >> 8));
}
/**
* If the servos are not moving for a while, the
* servo function can be stopped with this
* function (PCA9685 set to sleep mode).
*
* Hint: The servo power is NOT switched off by
* this function!
*
*/
void PCA9685_shutdown(void)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_ALL_LED_OFF_H, 0x10);
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1);
uint8_t mode1 = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
mode1 |= PCA9685_MODE1_SLEEP; // Set SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
}
/**
* If the servo function was stopped with the
* function PCA9685_shutdown() before, it can be
* (re)started again with this function.
*
* Hint: The servo power is NOT switched on by
* this function!
*
*/
void PCA9685_restart(void)
{
I2CTWI_transmitByte(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1);
uint8_t mode1 = I2CTWI_readByte(I2C_MULTIIO_SERVO_ADR);
if (mode1 & PCA9685_MODE1_RESTART) { // RESTART bit set?
mode1 &= ~PCA9685_MODE1_SLEEP; // Clear SLEEP bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
mSleep(1);
mode1 |= PCA9685_MODE1_RESTART; // Clear RESTART bit
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_MODE1, mode1);
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_ALL_LED_OFF_H, 0);
}
}
/**
* With this function you can switch the servo
* power on or off, if the servo power jumper on
* the board enables this feature.
*
* Input: pwr -> 0 (false) = servo power off
* >0 (true) = servo power on
*
* Hints: - If connected servos are not used, you
* should always switch the servo power off
* to save energy!
* - The PCA9685 is NOT restarted or put into
* shutdown mode by this function!
*
*/
void setServoPower(uint8_t pwr)
{
if (pwr > 0)
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_LED8_OFF_H, 0);
else
I2CTWI_transmit2Bytes(I2C_MULTIIO_SERVO_ADR, PCA9685_LED8_OFF_H, 0x10);
}
/*****************************************************************************/
// I2C EEPROM (24LCXXX):
// The following EEPROM types may be used:
// EEPROM Size: Chip Pagesize
// - 32 kbit: ST24LC32A 32
// - 64 kbit: ST24LC64 32
// - 128 kbit: ST24LC128 64
// - 256 kbit: ST24LC256 64
// - 512 kbit: ST24LC512 128
// - 1024 kbit: AT24LC1024 256
// ! You may choose the EEPROM type in the I2C EEPROM !
// ! section of the RP6Control_MultiIO.h file! !
/**
* Reads a single Byte from the EEPROM.
*/
uint8_t I2C_EEPROM_readByte(uint16_t memAddr)
{
uint8_t data;
I2CTWI_transmit2Bytes(I2C_MULTIIO_EEPROM_ADR, (memAddr >> 8), memAddr);
data = I2CTWI_readByte(I2C_MULTIIO_EEPROM_ADR);
return data;
}
/**
* Write a single data byte to the specified EEPROM address.
*/
void I2C_EEPROM_writeByte(uint16_t memAddr, uint8_t data)
{
I2CTWI_transmit3Bytes(I2C_MULTIIO_EEPROM_ADR, (memAddr >> 8), memAddr, data);
mSleep(5);
}
/**
* Reads "length" Bytes into the Buffer "buffer" from startAddr on.
* You can read the complete EEPROM into a buffer at once - if it is large enough.
* (But you only have 2KB SRAM on a MEGA32 ;) )
* If "length" is higher than I2CTWI_BUFFER_REC_SIZE defined in RP6I2CmasterTWI.h,
* you have to adapt I2CTWI_BUFFER_REC_SIZE to the highest used "length" value!
*/
void I2C_EEPROM_readBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length)
{
I2CTWI_transmit2Bytes(I2C_MULTIIO_EEPROM_ADR, (startAddr >> 8), startAddr);
I2CTWI_readBytes(I2C_MULTIIO_EEPROM_ADR, &buffer[0], length);
}
/**
* Write "length" Bytes from the Buffer to the EEPROM.
* YOU CAN ONLY WRITE MAXIMAL [I2C_EEPROM_PAGESIZE] BYTES AT ONCE!!!
* This is the Pagesize!
* You can NOT cross a page boundary!
* If (length + 2) is higher than I2CTWI_BUFFER_SIZE defined in RP6I2CmasterTWI.h,
* you have to adapt I2CTWI_BUFFER_SIZE to the highest used (length + 2) value!
*/
void I2C_EEPROM_writeBytes(uint16_t startAddr, uint8_t *buffer, uint8_t length)
{
uint8_t i, addrbuffer[length + 2];
addrbuffer[0] = (startAddr >> 8);
addrbuffer[1] = startAddr;
for(i = 0; i < length; i++) {
addrbuffer[i + 2] = buffer[i];
}
I2CTWI_transmitBytes(I2C_MULTIIO_EEPROM_ADR, &addrbuffer[0], (length + 2));
mSleep(5);
}
/*****************************************************************************/
// 3V3 Voltage Sensor:
uint16_t adc3v3; // 3V3 voltage sensor ADC value
/**
* This function reads and returns the ADC value of
* the 3V3 voltage sensor. The value is also stored
* in adc3v3.
*
*/
uint16_t get3V3Sensor(void)
{
adc3v3 = readADC(ADC_MULTIIO_3V3);
return adc3v3;
}
double v3v3; // 3V3 voltage [V]
/**
* Calculates and returns the 3.3V voltage value
* by using the data read from the 3V3 voltage
* sensor with the function get3V3Sensor().
*
*/
double calculate3V3(void)
{
return (5.0 / 1024.0 * adc3v3);
}
/**
* Measures and returns the 3.3V voltage value.
* The ADC value of the 3V3 voltage sensor is also
* stored in adc3v3.
*
*/
double measure3V3(void)
{
adc3v3 = readADC(ADC_MULTIIO_3V3);
return (5.0 / 1024.0 * adc3v3);
}
/*****************************************************************************/
// Touch Sensor (with NE555):
uint16_t adcTouch; // Touch sensor ADC value
uint8_t touch = 0; // True (1), if touched
/**
* Checks if the touch sensor antenna is touched - returns 1,
* if touched or 0, if the antenna is NOT touched.
*
*/
uint8_t getTouch(void)
{
adcTouch = readADC(ADC_MULTIIO_TOUCH);
if (adcTouch > ADCVAL_LIMIT_T) return 1;
else return 0;
}
/*****************************************************************************/
// Buttons:
uint16_t adcButtons; // Keypad ADC value
uint8_t releasedMultiIOButtonNumber; // Released (last pressed) button
uint8_t pressedMultiIOButtonNumber; // Actually pressed button
/**
* Checks which button is pressed - returns the button number,
* or 0, if no button is pressed.
* Maybe the values of ADCVAL_LIMITxx have to change because
* of variations in the resistors of the keypad! This is done
* in RP6Control_MultiIO.h, if you define other ADC values for
* your 4 buttons in ADCVAL_BUTTON1..ADCVAL_BUTTON4.
*
*/
uint8_t getMultiIOPressedButtonNumber(void)
{
adcButtons = readADC(ADC_MULTIIO_BUTTONS);
if(adcButtons < 1020) {
nop();
nop();
nop();
adcButtons += readADC(ADC_MULTIIO_BUTTONS);
adcButtons >>= 1;
}
if(adcButtons < ADCVAL_LIMIT12)
return 1;
if(adcButtons < ADCVAL_LIMIT23)
return 2;
if(adcButtons < ADCVAL_LIMIT34)
return 3;
if(adcButtons < ADCVAL_LIMIT40)
return 4;
return 0;
}
/**
* This function has to be called frequently out of the
* main loop and checks if a button is pressed! It only returns
* the button number a single time, DIRECTLY when the button is
* pressed.
*
* This is useful for non-blocking keyboard check in the
* main loop. You don't need something like
* "while(getMultiIOPressedButtonNumber());" to wait for the
* button to be released again!
*/
uint8_t checkMultiIOPressedButtonEvent(void)
{
static uint8_t pressed_button = 0;
if(pressed_button) {
if(!getMultiIOPressedButtonNumber())
pressed_button = 0;
}
else {
pressed_button = getMultiIOPressedButtonNumber();
if(pressed_button)
return pressed_button;
}
return 0;
}
/**
* This function has to be called frequently out of
* the main loop and checks if a button is pressed AND
* released. It only returns the button number a single
* time, AFTER the button has been released.
*
* This is useful for non-blocking keyboard check in the
* main loop. You don't need something like
* "while(getMultiIOPressedButtonNumber());" to wait for the
* button to be released again!
*/
uint8_t checkMultiIOReleasedButtonEvent(void)
{
static uint8_t released_button = 0;
if(released_button) {
if(!getMultiIOPressedButtonNumber()) {
uint8_t tmp = released_button;
released_button = 0;
return tmp;
}
}
else
released_button = getMultiIOPressedButtonNumber();
return 0;
}
/*****************************************************************************/
// LEDs:
/**
* Set the 4 status LEDs of the MultiIO.
*
* Example:
* setMultiIOLEDs(0b1010);
* // this clears LEDs 1 and 3
* // and sets LEDs 2 and 4!
*
*/
void setMultiIOLEDs(uint8_t leds)
{
if (leds & 0b00000001) PCA9685_set(CHLED1, 4095);
else PCA9685_set(CHLED1, 0);
if (leds & 0b00000010) PCA9685_set(CHLED2, 4095);
else PCA9685_set(CHLED2, 0);
if (leds & 0b00000100) PCA9685_set(CHLED3, 4095);
else PCA9685_set(CHLED3, 0);
if (leds & 0b00001000) PCA9685_set(CHLED4, 4095);
else PCA9685_set(CHLED4, 0);
}
/**
* Dim the 4 status LEDs of the MultiIO.
*
* Input: led -> LED number [1..4]
* duty -> Duty cycle [0..4095]
*
* Example:
* dimMultiIOLED(2,2048);
* // this dims LED2 with a
* // duty cycle of 50% !
*
*/
void dimMultiIOLED(uint8_t led, uint16_t duty)
{
if (led == 1) PCA9685_set(CHLED1, duty);
if (led == 2) PCA9685_set(CHLED2, duty);
if (led == 3) PCA9685_set(CHLED3, duty);
if (led == 4) PCA9685_set(CHLED4, duty);
}
/**
* Set ONLY LED1, don't change anything for the other LEDs.
*
* Input: led -> 0 (false) = LED off
* >0 (true) = LED on
*
*/
void setMultiIOLED1(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED1, 4095);
else PCA9685_set(CHLED1, 0);
}
/**
* Set ONLY LED2, don't change anything for the other LEDs.
*/
void setMultiIOLED2(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED2, 4095);
else PCA9685_set(CHLED2, 0);
}
/**
* Set ONLY LED3, don't change anything for the other LEDs.
*/
void setMultiIOLED3(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED3, 4095);
else PCA9685_set(CHLED3, 0);
}
/**
* Set ONLY LED4, don't change anything for the other LEDs.
*/
void setMultiIOLED4(uint8_t led)
{
if (led > 0) PCA9685_set(CHLED4, 4095);
else PCA9685_set(CHLED4, 0);
}
/*****************************************************************************/
// Buzzer:
/**
* Call this once before using the buzzer.
*
*/
void Buzzer_init(void)
{
IO_MULTIIO_BUZZER_DDR |= IO_MULTIIO_BUZZER_IN;
IO_MULTIIO_BUZZER_PORT &= ~IO_MULTIIO_BUZZER_IN;
}
/**
* You can use this function to make the buzzer beep ;)
* with a frequency of about 1000 Hz.
* This function is BLOCKING and generates a delay for the
* sound.
*
* Input: time -> sound length [ms]
*
* Example:
* buzzer(150);
*
*/
void buzzer(uint16_t time)
{
if (!time) return;
while (time--) {
IO_MULTIIO_BUZZER_PORT |= IO_MULTIIO_BUZZER_IN;
sleep(5);
IO_MULTIIO_BUZZER_PORT &= ~IO_MULTIIO_BUZZER_IN;
sleep(5);
}
}
/*****************************************************************************/
/*****************************************************************************/
// MultiIO Project Board initialisation and shutdown:
/**
* You MUST call this function at the beginning of a
* main program, that uses the MultiIO Project Board.
*
*/
void multiio_init(void)
{
// Voltage & current sensor:
LTC2990_init(); // Init VCS
// Servo Controller:
PCA9685_init(50); // Init PWM 50 Hz
// Servo power:
setServoPower(0); // Servo power off
// Buzzer:
Buzzer_init(); // Init buzzer
}
/**
* If you don't use any function of the MultiIO
* Project Board, you can put the MultiIO into
* "SHUTDOWN MODE". In this mode the electric
* power consumption is very low to save energy.
*
*/
void multiio_shutdown(void)
{
// LEDs:
setMultiIOLEDs(0b0000); // MultiIO LEDs off
// Servo power:
setServoPower(0); // Servo power off
// Servo Controller:
PCA9685_shutdown(); // Shutdown PCA9685
// Temperature Sensor:
TCN75_shutdown(); // Shutdown TCN75A
}
/*****************************************************************************/
/*****************************************************************************/
/******************************************************************************
* Additional info
* ****************************************************************************
* Changelog:
* - v. 1.2 (shutdown mode added) 28.03.2013 by Dirk
* - v. 1.1 (LTC2990 current bug fixed) 26.03.2013 by Dirk
* - v. 1.0 (initial release) 18.03.2013 by Dirk
*
* ****************************************************************************
*/
/*****************************************************************************/
// EOF
Erklärung
Demo
makefile:
... TARGET = RP6Control_MultiIO ... SRC += RP6Control_MultiIOLib.c ...
Datei RP6Control_MultiIO.c:
/*
* ****************************************************************************
* RP6 ROBOT SYSTEM - RP6 CONTROL M32 Examples
* ****************************************************************************
* Example: RP6Control MultiIO
* Author(s): Dirk
* ****************************************************************************
* Description:
* In this example we show a first test for the MultiIO Project Board.
*
* ############################################################################
* The Robot does NOT move in this example! You can simply put it on a table
* next to your PC and you should connect it to the PC via the USB Interface!
* ############################################################################
* ****************************************************************************
*/
/*****************************************************************************/
// Includes:
#include "RP6ControlLib.h" // The RP6 Control Library.
// Always needs to be included!
#include "RP6I2CmasterTWI.h" // Include the I2C-Bus Master Library
/*****************************************************************************/
/*****************************************************************************/
// Include our new "RP6Control MultiIO library":
// (This is the library for accessing the MultiIO Project Board!)
#include "RP6Control_MultiIOLib.h"
/*****************************************************************************/
/**
* Write a floating point number to the UART.
*
* Example:
*
* // Write a floating point number to the UART (no exponent):
* writeDouble(1234567.890, 11, 3);
*
* The value of prec (precision) defines the number of decimal places.
* For 32 bit floating point variables (float, double ...) 6 is
* the max. value for prec (7 relevant digits).
* The value of width defines the overall number of characters in the
* floating point number including the decimal point. The number of
* pre-decimal positions is: (width - prec - 1).
*/
void writeDouble(double number, uint8_t width, uint8_t prec)
{char buffer[width + 1];
dtostrf(number, width, prec, &buffer[0]);
writeString(&buffer[0]);
}
/*****************************************************************************/
// I2C Error handler
/**
* This function gets called automatically if there was an I2C Error like
* the slave sent a "not acknowledge" (NACK, error codes e.g. 0x20 or 0x30).
* The most common mistakes are:
* - using the wrong address for the slave
* - slave not active or not connected to the I2C-Bus
* - too fast requests for a slower slave
* Be sure to check this if you get I2C errors!
*/
void I2C_transmissionError(uint8_t errorState)
{
writeString_P("\nI2C ERROR --> TWI STATE IS: 0x");
writeInteger(errorState, HEX);
writeChar('\n');
}
/*****************************************************************************/
// Main function - The program starts here:
int main(void)
{
initRP6Control(); // Always call this first! The Processor will not
// work correctly otherwise.
initLCD(); // Initialize the LC-Display (LCD)
// Always call this before using the LCD!
setLEDs(0b1111);
mSleep(500);
setLEDs(0b0000);
writeString_P("\n\nRP6Control Multi IO Selftest 1!\n");
// IMPORTANT:
I2CTWI_initMaster(100); // Initialize the TWI Module for Master operation
// with 100kHz SCL Frequency
// Register the event handler:
I2CTWI_setTransmissionErrorHandler(I2C_transmissionError);
setLEDs(0b1111);
// Write a text message to the LCD:
showScreenLCD("################", "################");
mSleep(1500);
showScreenLCD(" RP6Control M32", "Example Program");
mSleep(2500);
showScreenLCD(" RP6 Multi IO", " Selftest 1");
mSleep(2500);
clearLCD();
setLEDs(0b0000);
// ---------------------------------------
uint8_t onoff = 0;
uint16_t servopos = SERVO1_LT;
startStopwatch1();
// IMPORTANT:
multiio_init(); // MultiIO init!!!
//setServoPower(1); // Servo power ON!
// ----------------------------------------------
// Set RTC once (battery empty or not existing:
rtc_time.second = 0;
rtc_time.minute = 0;
rtc_time.hour = 12; // 12:00
rtc_date.weekday = R_TH;
rtc_date.day = 28;
rtc_date.month = 3;
rtc_date.year = 2013; // Do, 28.3.2013
DS1307_write();
// Remove this, if RTC is set and running!!!
// ----------------------------------------------
// EEPROM test:
writeString_P("\nWriting 128 to EEPROM address 5:\n");
I2C_EEPROM_writeByte(5, 128);
mSleep(500);
writeString_P("Done!\n");
writeString_P("\nReading EEPROM address 5:\n");
uint8_t tmp = I2C_EEPROM_readByte(5);
mSleep(500);
I2C_EEPROM_writeByte(5, 0);
writeString_P("Done!\n");
writeString_P("EEPROM address 5 content: ");
writeInteger(tmp, DEC);
writeString_P("\n");
// Buzzer test:
buzzer(330);
mSleep(200);
buzzer(330);
mSleep(200);
buzzer(330);
mSleep(1000);
buzzer(330);
mSleep(200);
buzzer(330);
mSleep(200);
buzzer(330);
while(true)
{
if(getStopwatch1() > 1000) // 1s
{
if (onoff) onoff = 0;
else onoff = 1;
// Buttons ADC test:
clearLCD();
pressedMultiIOButtonNumber = getMultiIOPressedButtonNumber();
setCursorPosLCD(0, 0);
writeStringLCD("Button: ");
writeIntegerLCD(pressedMultiIOButtonNumber, DEC);
setCursorPosLCD(1, 0);
writeStringLCD("ADC: ");
writeIntegerLCD(adcButtons, DEC);
// 3V3 voltage sensor ADC test:
v3v3 = measure3V3();
writeString("\n3V3 Voltage: ");
writeDouble(v3v3, 4, 1);
writeString("V\nADC 3V3: ");
writeInteger(adc3v3, DEC);
// Touch sensor ADC test:
touch = getTouch();
if (touch) writeString("\nTOUCHED!!!");
else writeString("\nNOT touched.");
writeString("\nADC Touch: ");
writeInteger(adcTouch, DEC);
// Temperature sensor test:
temperature = TCN75_measure(); // Measure
writeString("\nTemperature: ");
writeDouble(temperature, 5, 1);
writeString("°\n");
// Servo controller test:
// LEDs:
if (onoff) {
setMultiIOLED1(1);
setMultiIOLED2(0);
setMultiIOLED3(0);
setMultiIOLED4(1);
}
else
setMultiIOLEDs(0b0110);
// Servo 1:
setServo(1, servopos);
servopos += 10;
if (servopos > SERVO1_RT) servopos = SERVO1_LT;
// RTC test:
DS1307_read();
writeString("RTC: ");
writeIntegerLength(rtc_time.hour, DEC, 2);
writeString(":");
writeIntegerLength(rtc_time.minute, DEC, 2);
writeString(":");
writeIntegerLength(rtc_time.second, DEC, 2);
writeString(" ");
writeIntegerLength(rtc_date.day, DEC, 2);
writeString(".");
writeIntegerLength(rtc_date.month, DEC, 2);
writeString(".");
writeIntegerLength(rtc_date.year, DEC, 4);
writeString("\n");
// Voltage & current sensor test:
LTC2990_measure();
writeString("Temperature: ");
writeDouble(tint, 5, 1);
writeString("°\n");
writeString("BAT Current: ");
writeDouble(cbat, 6, 1);
writeString("mA\nBAT Voltage: ");
writeDouble(vbat, 4, 1);
writeString( "V\nSERVO Volt.: ");
writeDouble(vservo, 4, 1);
writeString( "V\nVCC Voltage: ");
writeDouble(vcc, 4, 1);
writeString("V\n");
// MultiIO shutdown:
if (pressedMultiIOButtonNumber == 4) {
writeString("\nPress button 1 for MultiIO SHUTDOWN");
writeString("\nor any other button to continue!!!\n");
do {
mSleep(1);
releasedMultiIOButtonNumber = checkMultiIOReleasedButtonEvent();
task_I2CTWI();
} while (!releasedMultiIOButtonNumber);
if (releasedMultiIOButtonNumber == 1) {
writeString("\nPlease wait for MultiIO SHUTDOWN...\n");
multiio_shutdown();
mSleep(3000);
writeString("\nThe MultiIO now is in SHUTDOWN MODE!!!\n");
mSleep(1000);
writeString("\nRESET the M32 microcontroller now...\n\n");
while(true) {};
}
}
setStopwatch1(0);
}
task_I2CTWI();
}
return 0;
}
Erklärung
Servo-Library
Auf der MultiIO ist ein 10-poliger Wannenstecker "ServosM32" und ein 8x3-poliger Servo-Anschluß-Stecker vorgesehen, um 8 Servos direkt an die RP6Control M32 anschließen zu können. Dazu muss der I/O-Wannenstecker der M32 mit dem o.g. Wannenstecker für die Servos verbunden werden. Man kann dann bis zu 8 Servos an den Servo-Anschluß-Stecker der MultiIO anstecken.
Dieser M32 Servo-Anschluß auf der MultiIO dient also NUR dazu, das Anschließen von Servos zu erleichtern. Die MultiIO steuert diese Servos NICHT! Sie stellt allerdings die Stromversorgung für die Servos zur Verfügung. Das bedeutet, dass die Servo-Spannung auf der MultiIO eingeschaltet werden muss, wenn man diese Steckverbindung nutzen will.
Wenn man die RP6Control M32 Library für 8 Servos nicht verändern will, muss man den Jumper "J_Servos-On" auf der MultiIO aufstecken, siehe folgende Abbildung!
Die RP6Control M32 Library für 8 Servos findet ihr HIER!
Wo die 8 Servos (SERVO1..SERVO8) anzuschließen sind zeigt diese Abbildung:
RP6 BASE
Die RP6(v2) BASE (= "RP6") kann über den I2C-Bus alle I2C-Sensoren und I2C-Aktoren ansteuern. Da der RP6 nur über wenige freie Portpins verfügt, muss man eine Auswahl treffen, welche weiteren Funktionen man nutzen will.
Es gibt auf dem RP6 auch keine passenden Wannenstecker (wie auf der M32, M128 und M256), um auf einfache Weise eine mehrpolige Verbindung zu den IO-Mxxx, ADC-Mxxx oder ADC-M256 Steckern der Multi IO Platine herzustellen. Stattdessen kann man einzelne Portpins des RP6 mit der Multi IO Platine verbinden. Diese Verbindung kann auch über den USRBUS erfolgen. Die folgende Tabelle zeigt mögliche Verbindungen:
| RP6-Port | RP6-Funktion | RP6-Stecker:Pin | I/O | Bemerkungen | Z.B. für Multi IO-Funktion |
| PA0 | ADC0 | ADC0:3 | I/O | Freier ADC oder IO | BUTTONS, TOUCH, SHARPS_L/R, 3V3 ... |
| PA1 | ADC1 | ADC1:3 | I/O | Freier ADC oder IO | LFS_L/M/R, SNAKE_L/R, LDR1/2 ... |
| PA4 | ADC4 | XBUS:8 | I/O | XBUS INT1! Falls nicht für den I2C-Bus benutzt: freier IO * | SNAKE_SWITCH, SNAKE_KEY ... |
| PB1 | T1 | IO4 *** | I | Status LED5! Zusätzlich als Input z.B. für Taster nutzbar * | BUMPER_L/R ... |
| PB7 | SCK | IO3 **, ISP:7 | I | Status LED4! Zusätzlich als Input z.B. für Taster nutzbar * | BUMPER_L/R ... |
| PC4 | TDO | IO1 | I | Status LED1! Zusätzlich als Input z.B. für Taster nutzbar * | SNAKE_KEY ... |
| PC5 | TDI | IO2 | I | Status LED2! Zusätzlich als Input z.B. für Taster nutzbar * | DCF77 ... |
| PD0 | RXD | PRG/U:2 | I/O | UART RX! Nutzbar NUR, wenn USB-Interface abgezogen, als UART RX oder freier IO | GPS-Tx, SHARPS_PWR ... |
| PD1 | TXD | PRG/U:3 | I/O | UART TX! Nutzbar NUR, wenn USB-Interface abgezogen, als UART TX oder freier IO | GPS-Rx, LFS_PWR ... |
Zu *) ACHTUNG: Bestimmte Beschaltung erforderlich! Sollte nur genutzt werden, wenn man sich gut mit dem RP6 auskennt!
Zu **) RP6v2: IO4!
Zu ***) RP6v2: IO5!
Multi IO Projekt Library
Aus den genannten Gründen kann es keine generelle Multi IO Projekt Library für die RP6 BASE geben! Ich bin gern dabei, wenn jemand die M32 Library für die RP6 BASE umschreiben möchte! Auf jeden Fall lassen sich alle Teile der M32 Library für die RP6 BASE übernehmen, die die I2C-Sensoren und -Aktoren der MultiIO auslesen/ansteuern. Die können problemlos mit der RP6 BASE genutzt werden, wenn die BASE als I2C-Master konfiguriert wird. Folgende Sensoren/Aktoren lassen sich über I2C mit der RP6 BASE auslesen/ansteuern: - Spannungs- und Stromsensor (LTC2990) - Echtzeituhr (RTC DS1307Z) - Temperatursensor (TCN75A) - Servo Controller (PCA9685) - EEPROM (24LCXXX) - Ultraschalldistanzsensoren (SRF02) - Luftdrucksensor (BMP085) - Feuchte-, Temperatursensor (HYT-221) - 2D-Kompass (HDMM01) - 9D-IMU (MinIMU-9 v2) - AM-/FM-Radio mit RDS (Si4735) Folgender Sensor läßt sich über den UART der RP6 BASE aus- lesen: - GPS-Empfänger (NL-552ETTL)
Siehe auch
- RP6
- RP6 - Programmierung
- RP6v2
- RP6 Kamera - Mitmach-Projekt
- RP6v2 I2C-Portexpander
- RP6v2 USB-RS232-Adapter
- RP6v2 Orientierung
- RP6 Multi IO Projekt
- CCRP5
- Yeti
- Asuro
- C't-Bot
Weblinks
Alle wichtigen Daten (Lötanleitung, Anleitung in .pdf-Form, Schaltpläne) findet ihr HIER
Orientierungs-Mitmach-Projekt von Dirk
Umbau des Snake Vision für RP6
Autoren
--Dirk 20:33, 28. Mär 2013 (CET)
--fabqu 21:30, 09. Mär 2013 (CET)
