bucde
3 years ago
5 changed files with 2300 additions and 0 deletions
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app.py
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| @ -0,0 +1,399 @@ | |||||
| #!/usr/bin/env python3 | |||||
| import sys | |||||
| import getopt | |||||
| import glob | |||||
| import serial | |||||
| import struct | |||||
| from tkinter import * | |||||
| import matplotlib.figure as figure | |||||
| from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg | |||||
| from datetime import datetime | |||||
| def serial_ports(): | |||||
| """ Lists serial port names | |||||
| :raises EnvironmentError: | |||||
| On unsupported or unknown platforms | |||||
| :returns: | |||||
| A list of the serial ports available on the system | |||||
| """ | |||||
| if sys.platform.startswith('win'): | |||||
| ports = ['COM%s' % (i + 1) for i in range(256)] | |||||
| elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'): | |||||
| # this excludes your current terminal "/dev/tty" | |||||
| ports = glob.glob('/dev/tty[A-Za-z]*') | |||||
| elif sys.platform.startswith('darwin'): | |||||
| ports = glob.glob('/dev/tty.*') | |||||
| else: | |||||
| raise EnvironmentError('Unsupported platform') | |||||
| result = [] | |||||
| for port in ports: | |||||
| try: | |||||
| s = serial.Serial(port) | |||||
| s.close() | |||||
| result.append(port) | |||||
| except (OSError, serial.SerialException): | |||||
| pass | |||||
| return result | |||||
| #print(serial_ports()) | |||||
| availableSerialPorts = serial_ports() | |||||
| print('choose a port:') | |||||
| counter = 0 | |||||
| for port in availableSerialPorts: | |||||
| print(' [' + str(counter) + '] ' + port) | |||||
| counter += 1 | |||||
| choosenPort = input('(type a number (0)) ') | |||||
| if choosenPort == '': | |||||
| choosenPortNumber = 0 | |||||
| else: | |||||
| choosenPortNumber = int(choosenPort) | |||||
| counter = 0 | |||||
| #serialPort = '/dev/pts/19' | |||||
| serialPort = '/dev/ttyACM0' | |||||
| serialPort = availableSerialPorts[choosenPortNumber] | |||||
| try: | |||||
| ser = serial.Serial(serialPort, 19200, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout=0, writeTimeout=0) | |||||
| except: | |||||
| serialPort = '/dev/ttyACM1' | |||||
| ser = serial.Serial(serialPort, 19200, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout=0, writeTimeout=0) | |||||
| #ser = serial.Serial() | |||||
| #ser.port = "/dev/pts/19" | |||||
| #ser.baudrate = 9600 | |||||
| #ser.bytesize = serial.EIGHTBITS | |||||
| #ser.parity = serial.PARITY_NONE | |||||
| #ser.stopbits = serial.STOPBITS_ONE | |||||
| #ser.timeout = None #block read | |||||
| #ser.timeout = 1 #non-block read | |||||
| #ser.timeout = 2 #timeout block read | |||||
| #ser.xonxoff = False #disable software flow control | |||||
| #ser.rtscts = False #disable hardware (RTS/CTS) flow control | |||||
| #ser.dsrdtr = False #disable hardware (DSR/DTR) flow control | |||||
| #ser.writeTimeout = 2 #timeout for write | |||||
| #try: | |||||
| # ser.open() | |||||
| #except Exception as e: | |||||
| # print('error open serial port: ' + str(e)) | |||||
| # exit() | |||||
| #ser.open() | |||||
| #ser.write('hello world!') | |||||
| #values = bytearray([4, 9, 62, 144, 56, 30, 147, 3, 210, 89, 111, 78, 184, 151, 17, 129]) | |||||
| #ser.write(values) | |||||
| #while True: | |||||
| # print(ser.readline()) | |||||
| #from serial import * | |||||
| #from Tkinter import * | |||||
| #serialPort = "/dev/ttyACM0" | |||||
| #baudRate = 9600 | |||||
| #ser = Serial(serialPort , baudRate, timeout=0, writeTimeout=0) #ensure non-blocking | |||||
| logEnable = 0; | |||||
| #~ temps = [20, 40, 60, 80, 100, 120, 140, 160, 180, 200, 220] | |||||
| temps = [] | |||||
| tick = 0 | |||||
| #~ tickArray = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] | |||||
| tickArray = [] | |||||
| tActArray = [] | |||||
| tSetArray = [] | |||||
| errArray = [] | |||||
| errSumArray = [] | |||||
| outOrigArray = [] | |||||
| outArray = [] | |||||
| def functionLog(): | |||||
| global logEnable | |||||
| if logEnable == 1: | |||||
| sendSerial([0xa3]) | |||||
| app.after(1000, functionLog) | |||||
| def sendSerial(input): | |||||
| print('send ' + str(len(input)) + ' byte(s): ' + str([hex(x) for x in input])) | |||||
| data = bytearray([0xff, 0xf1]) | |||||
| data.append(len(input)) | |||||
| data.extend(bytearray(input)) | |||||
| ser.write(data) | |||||
| def processData(input): | |||||
| global logEnable | |||||
| global w | |||||
| global temps | |||||
| global tick | |||||
| global tickArray | |||||
| global tActArray | |||||
| global tSetArray | |||||
| global errArray | |||||
| global errSumArray | |||||
| global outOrigArray | |||||
| global outArray | |||||
| print(str([hex(x) for x in input])) | |||||
| if input[0] == 0xa0: | |||||
| if input[1] == 0x00: | |||||
| log.insert(END, '> temp sensor 0 status: ' + str.join(':', ('%02x' % x for x in input[2:])) + '\n') | |||||
| elif input[1] == 0x01: | |||||
| log.insert(END, '> temp sensor 1 status: ' + str.join(':', ('%02x' % x for x in input[2:])) + '\n') | |||||
| elif input[0] == 0x10: | |||||
| if input[1] == 0x00: | |||||
| log.insert(END, '> adc: wrong channel\n') | |||||
| elif input[1] == 0x01: | |||||
| log.insert(END, '> adc: start cartridge resistance measurement\n') | |||||
| elif input[1] == 0x02: | |||||
| log.insert(END, '> adc: start cartridge current measurement\n') | |||||
| elif input[1] == 0x03: | |||||
| log.insert(END, '> adc: start cartridge temperature measurement\n') | |||||
| elif input[1] == 0x04: | |||||
| log.insert(END, '> adc: start input voltage measurement\n') | |||||
| elif input[1] == 0xff: | |||||
| log.insert(END, '> adc: pending measurement\n') | |||||
| elif input[0] == 0x11: | |||||
| if input[1] == 0x01: | |||||
| log.insert(END, '> raw_adc_cartridge_resistance: ' + str(((input[2] * 256) + input[3])) + '\n') | |||||
| elif input[1] == 0x02: | |||||
| log.insert(END, '> raw_adc_cartridge_current: ' + str(((input[2] * 256) + input[3])) + '\n') | |||||
| elif input[1] == 0x03: | |||||
| log.insert(END, '> raw_adc_cartridge_temperature: ' + str(((input[2] * 256) + input[3])) + '\n') | |||||
| elif input[1] == 0x04: | |||||
| log.insert(END, '> raw_adc_v_in: ' + str(((input[2] * 256) + input[3])) + '\n') | |||||
| elif input[1] == 100: | |||||
| # log.insert(END, '> raw_adc_cartridge_temperature_cycle: ' + str(((input[2] * 256) + input[3])) + '\n') | |||||
| log.insert(END, '> raw_adc_cartridge_temperature_cycle: ' + str(round(((input[2] * 256) + input[3]) * 0.4833149757 + 35.1689715661)) + ' degC\n') | |||||
| #~ tick = tick + 1 | |||||
| #~ tickArray.append(tick) | |||||
| #~ temps.append(((input[2] * 256) + input[3]) * 0.4833149757 + 35.1689715661) | |||||
| #~ tickArray = tickArray[-200:] | |||||
| #~ temps = temps[-200:] | |||||
| #~ ax1.clear() | |||||
| #~ ax1.set_ylim(0, 400) | |||||
| #~ ax1.plot(tickArray, temps, linewidth=2, color='black') | |||||
| #~ fig.canvas.draw() | |||||
| elif input[0] == 0x20: | |||||
| if input[1] == 0x00: | |||||
| log.insert(END, '> cartridge resistance measure disabled\n') | |||||
| elif input[1] == 0x01: | |||||
| log.insert(END, '> cartridge resistance measure enabled\n') | |||||
| elif input[0] == 0x21: | |||||
| if input[1] == 0x00: | |||||
| log.insert(END, '> power-mosfet disabled\n') | |||||
| elif input[1] == 0x01: | |||||
| log.insert(END, '> power-mosfet enabled\n') | |||||
| elif input[0] == 0x8d: | |||||
| cartridge_temperature_adc_raw = ((input[1] * 256) + input[2]) | |||||
| tAct = struct.unpack('>f', input[3:7]) | |||||
| tSet = struct.unpack('>f', input[7:11]) | |||||
| err = struct.unpack('>f', input[11:15]) | |||||
| errSum = struct.unpack('>f', input[15:19]) | |||||
| outOrig = struct.unpack('>f', input[19:23]) | |||||
| out = input[23] * 256 + input[24] | |||||
| if out > 32767: | |||||
| out -= 65536 | |||||
| log.insert(END, 'tAct: ' + str(tAct) + 'tSet: ' + str(tSet) + 'err: ' + str(err) + 'errSum: ' + str(errSum) + 'outOrig: ' + str(outOrig) + 'out: ' + str(out) + '\n') | |||||
| #~ tActArray.append(tAct) | |||||
| #~ tActArray = tActArray[-200:] | |||||
| #~ ax1.clear() | |||||
| #~ ax1.plot(tickArray, tActArray, linewidth=2, color='black') | |||||
| #~ fig.canvas.draw() | |||||
| else: | |||||
| log.insert(END, '> ' + str.join(':', ('%02x' % x for x in input)) + '\n') | |||||
| log.see("end") | |||||
| def btnClearAction(): | |||||
| log.delete(1.0,END) | |||||
| log.insert(END, str(datetime.now()) + '\n') | |||||
| def btnGetRawAdcCartridgeResistanceAction(): | |||||
| sendSerial([0x10, 0x01]) | |||||
| def btnGetRawAdcCartridgeCurrentAction(): | |||||
| sendSerial([0x10, 0x02]) | |||||
| def btnGetRawAdcCartridgeTemperatureAction(): | |||||
| sendSerial([0x10, 0x03]) | |||||
| def btnGetRawAdcInputVoltageAction(): | |||||
| sendSerial([0x10, 0x04]) | |||||
| def btnSetCartridgeResistanceMosfetOnAction(): | |||||
| sendSerial([0x20, 0x01]) | |||||
| def btnSetCartridgeResistanceMosfetOffAction(): | |||||
| sendSerial([0x20, 0x00]) | |||||
| def btnSetPowerMosfetOnAction(): | |||||
| sendSerial([0x91, 0x01, 0x18]) | |||||
| def btnSetPowerMosfetOffAction(): | |||||
| sendSerial([0x91, 0x00, 0x00]) | |||||
| def btnGetTempSensor0DegCAction(): | |||||
| sendSerial([0xa2, 0x00]) | |||||
| def btnGetTempSensor1DegCAction(): | |||||
| sendSerial([0xa2, 0x01]) | |||||
| def btnGetTempSensorsDegCAction(): | |||||
| sendSerial([0xa3]) | |||||
| def btnStartLogAction(): | |||||
| global logEnable | |||||
| global w | |||||
| w = open('reflow_oven_temperature_log', 'w') | |||||
| logEnable = 1 | |||||
| w.write('time;seconds;status;temperature;tAct;tSet;err;errSum;outOrig;out\n') | |||||
| sendSerial([0xa5]) | |||||
| #functionLog() | |||||
| def btnStopLogAction(): | |||||
| global logEnable | |||||
| global w | |||||
| sendSerial([0xa4, 0x00]) | |||||
| logEnable = 0 | |||||
| w.close() | |||||
| def btnDisablePwmAction(): | |||||
| sendSerial([0xb0, 0x00, 0x00]) | |||||
| def btnSetTemperature0Action(): | |||||
| sendSerial([0xb1, 0x00]) | |||||
| def btnSetTemperature80Action(): | |||||
| sendSerial([0xb1, 0x50]) | |||||
| def btnSetTemperature150Action(): | |||||
| sendSerial([0xb1, 0x96]) | |||||
| def btnSetTemperature180Action(): | |||||
| sendSerial([0xb1, 0xb4]) | |||||
| def btnSetTemperature245Action(): | |||||
| sendSerial([0xb1, 0xf5]) | |||||
| #make a TkInter Window | |||||
| app = Tk() | |||||
| app.wm_title("attiny817_solderstation_app") | |||||
| # Create figure for plotting | |||||
| fig = figure.Figure(figsize=(12, 4)) | |||||
| #~ fig.subplots_adjust(left=0.1, right=0.8) | |||||
| ax1 = fig.add_subplot(1, 1, 1) | |||||
| ax1.set_ylim(0, 400) | |||||
| #~ ax1.set_xlim(0, 20) | |||||
| # Create a Tk Canvas widget out of our figure | |||||
| canvas = FigureCanvasTkAgg(fig, master=app) | |||||
| canvas_plot = canvas.get_tk_widget() | |||||
| # make a scrollbar | |||||
| scrollbar = Scrollbar(app) | |||||
| scrollbar.pack(side=RIGHT, fill=Y) | |||||
| # make a text box to put the serial output | |||||
| log = Text (app, width=250, height=20, takefocus=0) | |||||
| log.pack() | |||||
| # attach text box to scrollbar | |||||
| log.config(yscrollcommand=scrollbar.set) | |||||
| scrollbar.config(command=log.yview) | |||||
| btnClear = Button(app, text='clear', command=btnClearAction) | |||||
| btnGetRawAdcCartridgeResistance = Button(app, text='getRawAdcCartridgeResistance', command=btnGetRawAdcCartridgeResistanceAction) | |||||
| btnGetRawAdcCartridgeCurrent = Button(app, text='getRawAdcCartridgeCurrent', command=btnGetRawAdcCartridgeCurrentAction) | |||||
| btnGetRawAdcCartridgeTemperature = Button(app, text='getRawAdcCartridgeTemperature', command=btnGetRawAdcCartridgeTemperatureAction) | |||||
| btnGetRawAdcInputVoltage = Button(app, text='getRawAdcInputVoltage', command=btnGetRawAdcInputVoltageAction) | |||||
| btnSetCartridgeResistanceMosfetOn = Button(app, text='setCartridgeResistanceMosfetOn', command=btnSetCartridgeResistanceMosfetOnAction) | |||||
| btnSetCartridgeResistanceMosfetOff = Button(app, text='setCartridgeResistanceMosfetOff', command=btnSetCartridgeResistanceMosfetOffAction) | |||||
| btnSetPowerMosfetOn = Button(app, text='setPowerMosfetOn', command=btnSetPowerMosfetOnAction) | |||||
| btnSetPowerMosfetOff = Button(app, text='setPowerMosfetOff', command=btnSetPowerMosfetOffAction) | |||||
| btnGetTempSensor0DegC = Button(app, text='getTempSensor0DegC', command=btnGetTempSensor0DegCAction) | |||||
| btnGetTempSensor1DegC = Button(app, text='getTempSensor1DegC', command=btnGetTempSensor1DegCAction) | |||||
| btnGetTempSensorsDegC = Button(app, text='getTempSensorsDegC', command=btnGetTempSensorsDegCAction) | |||||
| btnStartLog = Button(app, text='startLog', command=btnStartLogAction) | |||||
| btnStopLog = Button(app, text='stopLog', command=btnStopLogAction) | |||||
| btnDisablePwm = Button(app, text='STOP', command=btnDisablePwmAction) | |||||
| btnSetTemperature0 = Button(app, text='setTemperature0', command=btnSetTemperature0Action) | |||||
| btnSetTemperature80 = Button(app, text='setTemperature80', command=btnSetTemperature80Action) | |||||
| btnSetTemperature150 = Button(app, text='setTemperature150', command=btnSetTemperature150Action) | |||||
| btnSetTemperature180 = Button(app, text='setTemperature180', command=btnSetTemperature180Action) | |||||
| btnSetTemperature245 = Button(app, text='setTemperature245', command=btnSetTemperature245Action) | |||||
| btnClear.pack() | |||||
| canvas_plot.pack() | |||||
| btnGetRawAdcCartridgeResistance.pack() | |||||
| btnGetRawAdcCartridgeCurrent.pack() | |||||
| btnGetRawAdcCartridgeTemperature.pack() | |||||
| btnGetRawAdcInputVoltage.pack() | |||||
| btnSetCartridgeResistanceMosfetOn.pack() | |||||
| btnSetCartridgeResistanceMosfetOff.pack() | |||||
| btnSetPowerMosfetOn.pack() | |||||
| btnSetPowerMosfetOff.pack() | |||||
| #make our own buffer | |||||
| #useful for parsing commands | |||||
| #Serial.readline seems unreliable at times too | |||||
| rxInputBuffer = bytearray() | |||||
| rxStatemachine = 0 | |||||
| def readSerial(): | |||||
| while True: | |||||
| c = ser.read() # attempt to read a character from Serial | |||||
| #was anything read? | |||||
| if len(c) == 0: | |||||
| break | |||||
| else: | |||||
| #print('DATA') | |||||
| #log.insert(END, ':' + c.hex()) | |||||
| global rxInputBuffer | |||||
| global rxStatemachine | |||||
| rxInputBuffer.append(c[0]) | |||||
| if rxStatemachine == 0: | |||||
| if rxInputBuffer[0] == 0xff: | |||||
| rxStatemachine = 1 | |||||
| rxInputBuffer = rxInputBuffer[1:] | |||||
| elif rxStatemachine == 1: | |||||
| if rxInputBuffer[0] == 0xf1: | |||||
| rxStatemachine = 2 | |||||
| else: | |||||
| rxStatemachine = 0 | |||||
| rxInputBuffer = rxInputBuffer[1:] | |||||
| elif rxStatemachine == 2: | |||||
| if len(rxInputBuffer) >= rxInputBuffer[0] + 1: | |||||
| processData(rxInputBuffer[1:rxInputBuffer[0] + 1]) | |||||
| rxInputBuffer = bytearray() | |||||
| rxStatemachine = 0 | |||||
| else: | |||||
| if len(rxInputBuffer) > 256: | |||||
| print('rxInputBuffer reset!') | |||||
| rxInputBuffer = bytearray() | |||||
| rxStatemachine = 0 | |||||
| app.after(1, readSerial) # check serial again soon | |||||
| # after initializing serial, an arduino may need a bit of time to reset | |||||
| app.after(100, readSerial) | |||||
| app.mainloop() | |||||
+ 444
- 0
app2.py
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| @ -0,0 +1,444 @@ | |||||
| #!/usr/bin/env python3 | |||||
| import sys | |||||
| import getopt | |||||
| import glob | |||||
| import serial | |||||
| import struct | |||||
| import tkinter | |||||
| from matplotlib.backends.backend_tkagg import (FigureCanvasTkAgg, NavigationToolbar2Tk) | |||||
| # Implement the default Matplotlib key bindings. | |||||
| from matplotlib.backend_bases import key_press_handler | |||||
| from matplotlib.figure import Figure | |||||
| import numpy as np | |||||
| tempe = 0 | |||||
| tSetGlobal = 0.0 | |||||
| controllerDebugWindowOpen = 0 | |||||
| tick = 0 | |||||
| tickArray = [] | |||||
| tActArray = [] | |||||
| tSetArray = [] | |||||
| tickDebug = 0 | |||||
| tickDebugArray = [] | |||||
| tActDebugArray = [] | |||||
| tSetDebugArray = [] | |||||
| errDebugArray = [] | |||||
| errSumDebugArray = [] | |||||
| outOrigDebugArray = [] | |||||
| outDebugArray = [] | |||||
| outAvgDebugArray = [] | |||||
| sleepCounterDebugArray = [] | |||||
| rxInputBuffer = bytearray() | |||||
| rxStatemachine = 0 | |||||
| def serial_ports(): | |||||
| """ Lists serial port names | |||||
| :raises EnvironmentError: | |||||
| On unsupported or unknown platforms | |||||
| :returns: | |||||
| A list of the serial ports available on the system | |||||
| """ | |||||
| if sys.platform.startswith('win'): | |||||
| ports = ['COM%s' % (i + 1) for i in range(256)] | |||||
| elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'): | |||||
| # this excludes your current terminal "/dev/tty" | |||||
| ports = glob.glob('/dev/tty[A-Za-z]*') | |||||
| elif sys.platform.startswith('darwin'): | |||||
| ports = glob.glob('/dev/tty.*') | |||||
| else: | |||||
| raise EnvironmentError('Unsupported platform') | |||||
| result = [] | |||||
| for port in ports: | |||||
| try: | |||||
| s = serial.Serial(port) | |||||
| s.close() | |||||
| result.append(port) | |||||
| except (OSError, serial.SerialException): | |||||
| pass | |||||
| return result | |||||
| #print(serial_ports()) | |||||
| availableSerialPorts = serial_ports() | |||||
| print('choose a port:') | |||||
| counter = 0 | |||||
| for port in availableSerialPorts: | |||||
| print(' [' + str(counter) + '] ' + port) | |||||
| counter += 1 | |||||
| choosenPort = input('(type a number (0)) ') | |||||
| if choosenPort == '': | |||||
| choosenPortNumber = 0 | |||||
| else: | |||||
| choosenPortNumber = int(choosenPort) | |||||
| counter = 0 | |||||
| #serialPort = '/dev/pts/19' | |||||
| serialPort = '/dev/ttyACM0' | |||||
| serialPort = availableSerialPorts[choosenPortNumber] | |||||
| try: | |||||
| ser = serial.Serial(serialPort, 19200, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout=0, writeTimeout=0) | |||||
| except: | |||||
| serialPort = '/dev/ttyACM1' | |||||
| ser = serial.Serial(serialPort, 19200, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout=0, writeTimeout=0) | |||||
| def readSerial(): | |||||
| while True: | |||||
| c = ser.read() # attempt to read a character from Serial | |||||
| #was anything read? | |||||
| if len(c) == 0: | |||||
| break | |||||
| else: | |||||
| #print('DATA') | |||||
| #log.insert(END, ':' + c.hex()) | |||||
| global rxInputBuffer | |||||
| global rxStatemachine | |||||
| rxInputBuffer.append(c[0]) | |||||
| if rxStatemachine == 0: | |||||
| if rxInputBuffer[0] == 0xff: | |||||
| rxStatemachine = 1 | |||||
| rxInputBuffer = rxInputBuffer[1:] | |||||
| elif rxStatemachine == 1: | |||||
| if rxInputBuffer[0] == 0xf1: | |||||
| rxStatemachine = 2 | |||||
| else: | |||||
| rxStatemachine = 0 | |||||
| rxInputBuffer = rxInputBuffer[1:] | |||||
| elif rxStatemachine == 2: | |||||
| if len(rxInputBuffer) >= rxInputBuffer[0] + 1: | |||||
| processData(rxInputBuffer[1:rxInputBuffer[0] + 1]) | |||||
| rxInputBuffer = bytearray() | |||||
| rxStatemachine = 0 | |||||
| else: | |||||
| if len(rxInputBuffer) > 256: | |||||
| print('rxInputBuffer reset!') | |||||
| rxInputBuffer = bytearray() | |||||
| rxStatemachine = 0 | |||||
| root.after(10, readSerial) # check serial again soon | |||||
| def processData(input): | |||||
| global tSetGlobal | |||||
| print([ "0x%02x" % b for b in input ]) | |||||
| # ~ print(str([hex(x) for x in input])) | |||||
| # ~ if input[0] == 0x11: | |||||
| # ~ if input[1] == 100: | |||||
| # ~ temperatureString.set(str(round(((input[2] * 256) + input[3]) * 0.4833149757 + 35.1689715661)) + "degC") | |||||
| # ~ processControllerDebugData(((input[2] * 256) + input[3]) * 0.4833149757 + 35.1689715661, 20, 10, 0, -10, -20) | |||||
| if input[0] == 0x33: | |||||
| print("debugDataEnabled") | |||||
| tickDebugArray.clear() | |||||
| tActDebugArray.clear() | |||||
| tSetDebugArray.clear() | |||||
| errDebugArray.clear() | |||||
| errSumDebugArray.clear() | |||||
| outOrigDebugArray.clear() | |||||
| outDebugArray.clear() | |||||
| outAvgDebugArray.clear() | |||||
| sleepCounterDebugArray.clear() | |||||
| elif input[0] == 0x34: | |||||
| print("debugDataDisabled") | |||||
| elif input[0] == 0x8d: | |||||
| cartridge_temperature_adc_raw = ((input[1] * 256) + input[2]) | |||||
| tAct = struct.unpack('>f', input[3:7])[0] | |||||
| tSet = struct.unpack('>f', input[7:11])[0] | |||||
| err = struct.unpack('>f', input[11:15])[0] | |||||
| errSum = struct.unpack('>f', input[15:19])[0] | |||||
| outOrig = struct.unpack('>f', input[19:23])[0] | |||||
| out = input[23] * 256 + input[24] | |||||
| outAvg = input[25] * 256 + input[26] | |||||
| sleepCounter = input[27] * 256 + input[28] | |||||
| if out > 32767: | |||||
| out -= 65536 | |||||
| tActString.set(str(round(tAct)) + "degC") | |||||
| tSetString.set("(" + str(round(tSet)) + "degC)") | |||||
| tSetGlobal = tSet | |||||
| processTemperatureData(tAct, tSet) | |||||
| processControllerDebugData(tAct, tSet, err, errSum, outOrig, out, outAvg, sleepCounter) | |||||
| elif input[0] == 0x8c: | |||||
| tAct = struct.unpack('>f', input[1:5])[0] | |||||
| tSet = struct.unpack('>f', input[5:9])[0] | |||||
| tActString.set(str(round(tAct)) + "degC") | |||||
| tSetString.set("(" + str(round(tSet)) + "degC)") | |||||
| tSetGlobal = tSet | |||||
| processTemperatureData(tAct, tSetGlobal) | |||||
| # ~ elif input[0] == 0x91: | |||||
| # ~ tSet = struct.unpack('>f', input[1:5])[0] | |||||
| # ~ tSetString.set("(" + str(round(tSet)) + "degC)") | |||||
| # ~ elif input[0] == 0x92: | |||||
| # ~ controllerValueKpString.set("Kp: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x93: | |||||
| # ~ controllerValueKpString.set("Kp: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x94: | |||||
| # ~ controllerValueKiString.set("Ki: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x95: | |||||
| # ~ controllerValueKiString.set("Ki: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x96: | |||||
| # ~ controllerValueKdString.set("Kd: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x97: | |||||
| # ~ controllerValueKdString.set("Kd: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x98: | |||||
| # ~ controllerValueKitString.set("Kit: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| # ~ elif input[0] == 0x99: | |||||
| # ~ controllerValueKitString.set("Kit: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| elif input[0] == 0xa0: | |||||
| controllerValueKpString.set("Kp: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| elif input[0] == 0xa1: | |||||
| controllerValueKiString.set("Ki: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| elif input[0] == 0xa2: | |||||
| controllerValueKdString.set("Kd: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| elif input[0] == 0xa3: | |||||
| controllerValueKitString.set("Kit: " + str(struct.unpack('>f', input[1:5])[0])) | |||||
| elif input[0] == 0xf0: | |||||
| tSet = struct.unpack('>f', input[1:5])[0] | |||||
| controllerKp = struct.unpack('>f', input[5:9])[0] | |||||
| controllerKi = struct.unpack('>f', input[9:13])[0] | |||||
| controllerKd = struct.unpack('>f', input[13:17])[0] | |||||
| controllerKit = struct.unpack('>f', input[17:21])[0] | |||||
| tSetString.set("(" + str(round(tSet)) + "degC)") | |||||
| tSetGlobal = tSet | |||||
| controllerValueKpString.set("Kp: " + str(controllerKp)) | |||||
| controllerValueKiString.set("Ki: " + str(controllerKi)) | |||||
| controllerValueKdString.set("Kd: " + str(controllerKd)) | |||||
| controllerValueKitString.set("Kit: " + str(controllerKit)) | |||||
| def sendSerial(payloadType, payload): | |||||
| # ~ print('send ' + str(len(input)) + ' byte(s): ' + str([hex(x) for x in input])) | |||||
| data = bytearray([0xff, 0xf1]) | |||||
| data.append(1 + len(payload)) | |||||
| data.append(payloadType) | |||||
| data.extend(bytearray(payload)) | |||||
| print("send " + str([ "0x%02x" % b for b in data ])) | |||||
| ser.write(data) | |||||
| def createNewWindow(): | |||||
| global controllerDebugWindowOpen | |||||
| newWindow = tkinter.Toplevel(root) | |||||
| newWindow.protocol("WM_DELETE_WINDOW", lambda: closeWindow(newWindow)) | |||||
| # ~ labelExample = tkinter.Label(master=newWindow, text="new window") | |||||
| # ~ labelExample.pack() | |||||
| canvas2 = FigureCanvasTkAgg(controllerDebugFigure, master=newWindow) # A tk.DrawingArea. | |||||
| canvas2.draw() | |||||
| canvas2.get_tk_widget().pack() | |||||
| controllerDebugWindowOpen = 1 | |||||
| def closeWindow(myVar): | |||||
| print("closeWindow " + str(myVar)) | |||||
| controllerDebugWindowOpen = 0 | |||||
| myVar.destroy() | |||||
| def increaseTemperature(): | |||||
| global tempe, temperatureString | |||||
| tempe = tempe + 10 | |||||
| temperatureString.set(str(tempe) + "degC") | |||||
| def processTemperatureData(tAct, tSet): | |||||
| global tick, tickArray, tActArray, tSetArray | |||||
| tickArray.append(tick) | |||||
| tickArray = tickArray[-30:] | |||||
| tick = tick + 1 | |||||
| tActArray.append(tAct) | |||||
| tActArray = tActArray[-30:] | |||||
| tSetArray.append(tSet) | |||||
| tSetArray = tSetArray[-30:] | |||||
| yMin = tSet - 10 | |||||
| yMax = tSet + 10 | |||||
| if min(tActArray) < yMin: | |||||
| yMin = min(tActArray) - 2 | |||||
| if max(tActArray) > yMax: | |||||
| yMax = max(tActArray) + 2 | |||||
| temperatureFigureAxis1.clear() | |||||
| temperatureFigureAxis1.plot(tickArray, tActArray, linewidth=1, color="black") | |||||
| temperatureFigureAxis1.plot(tickArray, tSetArray, linewidth=1, color="green") | |||||
| temperatureFigureAxis1.set_ylim(yMin, yMax) | |||||
| # ~ temperatureFigure.tight_layout() | |||||
| temperatureFigure.canvas.draw() | |||||
| def processControllerDebugData(tAct, tSet, err, errSum, outOrig, out, outAvg, sleepCounter): | |||||
| # ~ print("processControllerDebugData") | |||||
| global tickDebug, tickDebugArray, tActDebugArray, tSetDebugArray, errDebugArray, errSumDebugArray, outOrigDebugArray, outDebugArray, outAvgDebugArray, sleepCounterDebugArray | |||||
| global controllerDebugWindowOpen | |||||
| tickDebugArray.append(tickDebug) | |||||
| tickDebugArray = tickDebugArray[-1000:] | |||||
| tickDebug = tickDebug + 1 | |||||
| tActDebugArray.append(tAct) | |||||
| tActDebugArray = tActDebugArray[-1000:] | |||||
| tSetDebugArray.append(tSet) | |||||
| tSetDebugArray = tSetDebugArray[-1000:] | |||||
| errDebugArray.append(err) | |||||
| errDebugArray = errDebugArray[-1000:] | |||||
| errSumDebugArray.append(errSum) | |||||
| errSumDebugArray = errSumDebugArray[-1000:] | |||||
| outOrigDebugArray.append(outOrig) | |||||
| outOrigDebugArray = outOrigDebugArray[-1000:] | |||||
| outDebugArray.append(out) | |||||
| outDebugArray = outDebugArray[-1000:] | |||||
| outAvgDebugArray.append(outAvg) | |||||
| outAvgDebugArray = outAvgDebugArray[-1000:] | |||||
| sleepCounterDebugArray.append(sleepCounter) | |||||
| sleepCounterDebugArray = sleepCounterDebugArray[-1000:] | |||||
| if controllerDebugWindowOpen == 1: | |||||
| # ~ ax1.clear() | |||||
| # ~ ax1.plot(tickArray, tActArray, linewidth=2, color='black') | |||||
| # ~ fig.canvas.draw() | |||||
| controllerDebugFigureAxis1.clear() | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, tActDebugArray, linewidth=1, color="black", label="tAct") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, tSetDebugArray, linewidth=1, color="green", label="tSet") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, errDebugArray, linewidth=1, color="red", label="err") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, errSumDebugArray, linewidth=1, color="orange", label="errSum") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, outOrigDebugArray, linewidth=1, color="royalblue", label="outOrig") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, outDebugArray, linewidth=1, color="blueviolet", label="out") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, outAvgDebugArray, linewidth=1, color="blue", label="outAvg") | |||||
| controllerDebugFigureAxis1.plot(tickDebugArray, sleepCounterDebugArray, linewidth=1, color="grey", label="sleepCounter") | |||||
| controllerDebugFigureAxis1.legend(loc="lower left") | |||||
| controllerDebugFigureAxis1.set_ylim(-100, 1000) | |||||
| # ~ controllerDebugFigure.tight_layout() | |||||
| controllerDebugFigure.canvas.draw() | |||||
| root = tkinter.Tk() | |||||
| root.wm_title("Embedding in Tk") | |||||
| root.geometry("320x850") | |||||
| # ~ root.protocol("WM_DELETE_WINDOW", lambda: closeWindow(root)) | |||||
| # ~ fig = Figure(figsize=(5, 4), dpi=100) | |||||
| # ~ fig2 = Figure(figsize=(5, 4), dpi=100) | |||||
| # ~ t = np.arange(0, 3, .01) | |||||
| # ~ fig.add_subplot(111).plot(t, 2 * np.sin(2 * np.pi * t)) | |||||
| # ~ fig2.add_subplot(111).plot(t, 2 * np.cos(2 * np.pi * t)) | |||||
| temperatureFigure = Figure(figsize=(3, 2)) | |||||
| temperatureFigureAxis1 = temperatureFigure.add_subplot(1, 1, 1) | |||||
| temperatureFigureAxis1.yaxis.set_label_position("right") | |||||
| temperatureFigureAxis1.yaxis.tick_right() | |||||
| temperatureFigure.tight_layout() | |||||
| controllerDebugFigure = Figure(figsize=(15, 9)) | |||||
| controllerDebugFigureAxis1 = controllerDebugFigure.add_subplot(1, 1, 1) | |||||
| controllerDebugFigureAxis1.yaxis.set_label_position("right") | |||||
| controllerDebugFigureAxis1.yaxis.tick_right() | |||||
| controllerDebugFigureAxis1.set_ylim(-200, 500) | |||||
| controllerDebugFigure.tight_layout() | |||||
| # ~ canvas = FigureCanvasTkAgg(fig, master=root) # A tk.DrawingArea. | |||||
| # ~ canvas.draw() | |||||
| # pack_toolbar=False will make it easier to use a layout manager later on. | |||||
| # ~ toolbar = NavigationToolbar2Tk(canvas, root, pack_toolbar=False) | |||||
| # ~ toolbar.update() | |||||
| # ~ canvas.mpl_connect("key_press_event", lambda event: print(f"you pressed {event.key}")) | |||||
| # ~ canvas.mpl_connect("key_press_event", key_press_handler) | |||||
| # ~ btn = tk.Button(root, text="Press", command=lambda: myFunction("See this worked!")) | |||||
| # ~ button = tkinter.Button(master=root, text="Quit", command=root.quit) | |||||
| buttonNewWindow = tkinter.Button(master=root, text="open controller debug window", command=createNewWindow) | |||||
| # Packing order is important. Widgets are processed sequentially and if there | |||||
| # is no space left, because the window is too small, they are not displayed. | |||||
| # The canvas is rather flexible in its size, so we pack it last which makes | |||||
| # sure the UI controls are displayed as long as possible. | |||||
| # ~ button.pack(side=tkinter.BOTTOM) | |||||
| buttonNewWindow.pack(side=tkinter.BOTTOM) | |||||
| # ~ toolbar.pack(side=tkinter.BOTTOM, fill=tkinter.X) | |||||
| # ~ canvas.get_tk_widget().pack(side=tkinter.TOP, fill=tkinter.BOTH, expand=1) | |||||
| tkinter.Button(master=root, text="set 330degC", command=lambda: sendSerial(0x91, [0x01, 0x4a])).pack() | |||||
| tkinter.Button(master=root, text="set 200degC", command=lambda: sendSerial(0x91, [0x00, 0xc8])).pack() | |||||
| tkinter.Button(master=root, text="set 0degC", command=lambda: sendSerial(0x91, [0x00, 0x00])).pack() | |||||
| tActString = tkinter.StringVar() | |||||
| tActString.set("0degC") | |||||
| tSetString = tkinter.StringVar() | |||||
| tSetString.set("(0degC)") | |||||
| controllerValueKpString = tkinter.StringVar() | |||||
| controllerValueKpString.set("Kp: 0") | |||||
| controllerValueKiString = tkinter.StringVar() | |||||
| controllerValueKiString.set("Ki: 0") | |||||
| controllerValueKdString = tkinter.StringVar() | |||||
| controllerValueKdString.set("Kd: 0") | |||||
| controllerValueKitString = tkinter.StringVar() | |||||
| controllerValueKitString.set("Kit: 0") | |||||
| tkinter.Label(master=root, textvariable=tActString, font=("Free Mono", 40)).pack() | |||||
| tkinter.Label(master=root, textvariable=tSetString, font=("Free Mono", 20)).pack() | |||||
| canvas = FigureCanvasTkAgg(temperatureFigure, master=root) # A tk.DrawingArea. | |||||
| canvas.draw() | |||||
| canvas.get_tk_widget().pack() | |||||
| # ~ tkinter.Button(master=root, text="Kp +1", command=lambda: sendSerial(0x92, [])).pack() | |||||
| tkinter.Label(master=root, textvariable=controllerValueKpString, font=("Free Mono", 20)).pack() | |||||
| textValueKp = tkinter.Text(master=root, height=1, width=20) | |||||
| textValueKp.pack() | |||||
| tkinter.Button(master=root, text="set Kp", command=lambda: sendSerial(0xa0, convertStringToFloatBytearray(textValueKp.get("1.0", "end-1c")))).pack() | |||||
| # ~ tkinter.Button(master=root, text="Kp -1", command=lambda: sendSerial(0x93, [])).pack() | |||||
| # ~ tkinter.Button(master=root, text="Ki +1", command=lambda: sendSerial(0x94, [])).pack() | |||||
| tkinter.Label(master=root, textvariable=controllerValueKiString, font=("Free Mono", 20)).pack() | |||||
| textValueKi = tkinter.Text(master=root, height=1, width=20) | |||||
| textValueKi.pack() | |||||
| tkinter.Button(master=root, text="set Ki", command=lambda: sendSerial(0xa1, convertStringToFloatBytearray(textValueKi.get("1.0", "end-1c")))).pack() | |||||
| # ~ tkinter.Button(master=root, text="Ki -1", command=lambda: sendSerial(0x95, [])).pack() | |||||
| # ~ tkinter.Button(master=root, text="Kd +1", command=lambda: sendSerial(0x96, [])).pack() | |||||
| tkinter.Label(master=root, textvariable=controllerValueKdString, font=("Free Mono", 20)).pack() | |||||
| textValueKd = tkinter.Text(master=root, height=1, width=20) | |||||
| textValueKd.pack() | |||||
| tkinter.Button(master=root, text="set Kd", command=lambda: sendSerial(0xa2, convertStringToFloatBytearray(textValueKd.get("1.0", "end-1c")))).pack() | |||||
| # ~ tkinter.Button(master=root, text="Kd -1", command=lambda: sendSerial(0x97, [])).pack() | |||||
| # ~ tkinter.Button(master=root, text="Kit +1", command=lambda: sendSerial(0x98, [])).pack() | |||||
| tkinter.Label(master=root, textvariable=controllerValueKitString, font=("Free Mono", 20)).pack() | |||||
| textValueKit = tkinter.Text(master=root, height=1, width=20) | |||||
| textValueKit.pack() | |||||
| tkinter.Button(master=root, text="set Kit", command=lambda: sendSerial(0xa3, convertStringToFloatBytearray(textValueKit.get("1.0", "end-1c")))).pack() | |||||
| # ~ tkinter.Button(master=root, text="Kit -1", command=lambda: sendSerial(0x99, [])).pack() | |||||
| tkinter.Button(master=root, text="enable debug data", command=lambda: sendSerial(0x33, [])).pack() | |||||
| tkinter.Button(master=root, text="disable debug data", command=lambda: sendSerial(0x34, [])).pack() | |||||
| # ~ tkinter.Button(master=root, text="init", command=lambda: sendSerial(0xf0, [])).pack() | |||||
| def convertStringToFloatBytearray(inputString): | |||||
| try: | |||||
| floatValue = float(inputString) | |||||
| byteArrayValue = bytearray(struct.pack('>f', floatValue)) | |||||
| # ~ print(str(floatValue)) | |||||
| # ~ print([ "0x%02x" % b for b in byteArrayValue ]) | |||||
| return byteArrayValue | |||||
| except: | |||||
| print("can not convert [" + inputString + "] to float!") | |||||
| return [] | |||||
| root.after(100, readSerial) | |||||
| sendSerial(0xf0, []) | |||||
| tkinter.mainloop() | |||||
+ 933
- 0
main.c
View File
| @ -0,0 +1,933 @@ | |||||
| #include <avr/io.h> | |||||
| #include <avr/interrupt.h> | |||||
| #include <util/delay.h> | |||||
| #include "main.h" | |||||
| #define DEF_F_BAUD 19200 | |||||
| #define DEF_BAUD 64 * F_CPU / 16 / DEF_F_BAUD | |||||
| #define ADC_MUXPOS_CARTRIDGE_RESISTANCE ADC_MUXPOS_AIN4_gc | |||||
| #define ADC_MUXPOS_CARTRIDGE_CURRENT ADC_MUXPOS_AIN7_gc | |||||
| #define ADC_MUXPOS_CARTRIDGE_TEMPERATURE ADC_MUXPOS_AIN8_gc | |||||
| #define ADC_MUXPOS_V_IN ADC_MUXPOS_AIN9_gc | |||||
| #define BUFFER_SIZE (64) | |||||
| volatile uint8_t debugRxStateMachine = 0x00; | |||||
| volatile uint8_t debugRxBuffer[BUFFER_SIZE]; | |||||
| volatile uint8_t debugRxBufferIndex = 0; | |||||
| volatile uint8_t debugRxFrameLength = 0; | |||||
| volatile uint8_t debugTxStateMachine = 0x00; | |||||
| volatile uint8_t debugTxBuffer[BUFFER_SIZE]; | |||||
| volatile uint8_t debugTxBufferIndex = 0; | |||||
| volatile uint8_t debugTxFrameLength = 0; | |||||
| volatile uint8_t adc_channel = 0; | |||||
| volatile uint8_t adc_counter = 0; | |||||
| volatile uint16_t cartridge_temperature_data[8]; | |||||
| volatile uint8_t cartridge_temperature_data_pointer = 0; | |||||
| //~ volatile uint8_t out_data[32]; | |||||
| //~ volatile uint8_t out_data_pointer = 0; | |||||
| volatile uint16_t sleep_kp_value = 0; | |||||
| volatile uint16_t sleep_counter = 0; | |||||
| volatile uint8_t sleep_state = 1; | |||||
| volatile uint16_t out_avg = 0; | |||||
| volatile int8_t out_avg_counter = 0; | |||||
| #define Kp 30 | |||||
| #define Kd 0 | |||||
| #define Ki 0.5 | |||||
| #define Kit 400 | |||||
| #define errSumMax 1 / Ki * Kit | |||||
| volatile float controllerKp = 0; | |||||
| volatile float controllerKpBuff = Kp; | |||||
| volatile uint8_t controllerKpBuffFlag = 1; | |||||
| volatile float controllerKd = 0; | |||||
| volatile float controllerKdBuff = Kd; | |||||
| volatile uint8_t controllerKdBuffFlag = 1; | |||||
| volatile float controllerKi = 0; | |||||
| volatile float controllerKiBuff = Ki; | |||||
| volatile uint8_t controllerKiBuffFlag = 1; | |||||
| volatile float controllerKit = 0; | |||||
| volatile float controllerKitBuff = Kit; | |||||
| volatile uint8_t controllerKitBuffFlag = 1; | |||||
| volatile float controllerErrSumMax = 0; | |||||
| volatile float tSet = 0; | |||||
| volatile float tSetBuff = 200; | |||||
| volatile uint8_t tSetBuffFlag = 1; | |||||
| #define OUT_MAX 800 | |||||
| volatile float tAct = 0; | |||||
| volatile float err = 0; | |||||
| volatile float errAlt = 0; | |||||
| volatile float errSum = 0; | |||||
| volatile float outOrig = 0; | |||||
| volatile uint16_t out = 0; | |||||
| volatile uint16_t outOld = 0; | |||||
| volatile uint8_t outSettlingCounter = 0; | |||||
| volatile uint8_t outSettlingState = 0; | |||||
| volatile uint8_t debugDataEnable = 0; | |||||
| void DebugAppendData(uint8_t data) | |||||
| { | |||||
| if (debugTxStateMachine == 0x00) | |||||
| { | |||||
| if (debugTxFrameLength < BUFFER_SIZE) | |||||
| { | |||||
| debugTxBuffer[debugTxFrameLength] = data; | |||||
| debugTxFrameLength++; | |||||
| } | |||||
| } | |||||
| } | |||||
| void DebugSendData(void) | |||||
| { | |||||
| if (debugTxStateMachine == 0x00) | |||||
| { | |||||
| debugTxStateMachine = 0x01; | |||||
| while ((USART0.STATUS & 0b00100000) == 0) {} | |||||
| USART0.CTRLA |= 0b00100000; | |||||
| USART0.TXDATAL = 0xff; | |||||
| } | |||||
| } | |||||
| ISR(USART0_RXC_vect) | |||||
| { | |||||
| uint8_t data = USART0.RXDATAL; | |||||
| switch (debugRxStateMachine) | |||||
| { | |||||
| case 0x00: | |||||
| if (data == 0xff) | |||||
| { | |||||
| debugRxStateMachine = 0x01; | |||||
| } | |||||
| break; | |||||
| case 0x01: | |||||
| if (data == 0xf1) | |||||
| { | |||||
| debugRxStateMachine = 0x02; | |||||
| } | |||||
| else | |||||
| { | |||||
| debugRxStateMachine = 0x00; | |||||
| } | |||||
| break; | |||||
| case 0x02: | |||||
| debugRxFrameLength = data; | |||||
| if (debugRxFrameLength <= BUFFER_SIZE) | |||||
| { | |||||
| debugRxStateMachine = 0x03; | |||||
| } | |||||
| else | |||||
| { | |||||
| debugRxStateMachine = 0xff; | |||||
| } | |||||
| break; | |||||
| case 0x03: | |||||
| if (debugRxBufferIndex < BUFFER_SIZE) | |||||
| { | |||||
| debugRxBuffer[debugRxBufferIndex] = data; | |||||
| debugRxBufferIndex++; | |||||
| if (debugRxBufferIndex >= debugRxFrameLength) | |||||
| { | |||||
| debugRxBufferIndex = 0; | |||||
| debugRxStateMachine = 0x04; | |||||
| } | |||||
| } | |||||
| else | |||||
| { | |||||
| debugRxStateMachine = 0xff; | |||||
| } | |||||
| break; | |||||
| default: | |||||
| break; | |||||
| } | |||||
| } | |||||
| ISR(USART0_DRE_vect) | |||||
| { | |||||
| switch (debugTxStateMachine) | |||||
| { | |||||
| case 0x01: | |||||
| debugTxStateMachine = 0x02; | |||||
| USART0.TXDATAL = 0xf1; | |||||
| break; | |||||
| case 0x02: | |||||
| debugTxStateMachine = 0x03; | |||||
| debugTxBufferIndex = 0; | |||||
| USART0.TXDATAL = debugTxFrameLength; | |||||
| break; | |||||
| case 0x03: | |||||
| if (debugTxBufferIndex == debugTxFrameLength - 1) | |||||
| { | |||||
| debugTxStateMachine = 0x04; | |||||
| } | |||||
| USART0.TXDATAL = debugTxBuffer[debugTxBufferIndex]; | |||||
| debugTxBufferIndex++; | |||||
| break; | |||||
| case 0x04: | |||||
| USART0.CTRLA &= 0b11011111; | |||||
| debugTxFrameLength = 0; | |||||
| debugTxStateMachine = 0; | |||||
| break; | |||||
| default: | |||||
| break; | |||||
| } | |||||
| } | |||||
| ISR(ADC0_RESRDY_vect) | |||||
| { | |||||
| //~ uint16_t adc_value = ADC0.RES >> 5; | |||||
| uint16_t adc_value = ADC0.RES; | |||||
| switch (adc_channel) | |||||
| { | |||||
| case 100: | |||||
| cartridge_temperature_data[cartridge_temperature_data_pointer] = adc_value; | |||||
| cartridge_temperature_data_pointer++; | |||||
| cartridge_temperature_data_pointer &= 7; | |||||
| uint16_t cartridge_temperature = 0; | |||||
| for (uint8_t i = 0; i < 8; i++) | |||||
| { | |||||
| cartridge_temperature += cartridge_temperature_data[i]; | |||||
| } | |||||
| cartridge_temperature >>= 3; | |||||
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ | |||||
| if (tSetBuffFlag > 0) | |||||
| { | |||||
| tSet = tSetBuff; | |||||
| tSetBuffFlag = 0; | |||||
| if (tSet > 250) | |||||
| { | |||||
| sleep_state = 0; | |||||
| sleep_counter = 0; | |||||
| } | |||||
| else | |||||
| { | |||||
| sleep_state++; | |||||
| } | |||||
| } | |||||
| if (controllerKpBuffFlag > 0) | |||||
| { | |||||
| controllerKp = controllerKpBuff; | |||||
| controllerKpBuffFlag = 0; | |||||
| sleep_kp_value = (uint16_t) (controllerKp * 2.0); | |||||
| } | |||||
| if (controllerKdBuffFlag > 0) | |||||
| { | |||||
| controllerKd = controllerKdBuff; | |||||
| controllerKdBuffFlag = 0; | |||||
| } | |||||
| if (controllerKiBuffFlag > 0) | |||||
| { | |||||
| if (controllerKiBuff == 0) | |||||
| { | |||||
| controllerKiBuff = 1; | |||||
| } | |||||
| controllerKi = controllerKiBuff; | |||||
| controllerErrSumMax = 1 / controllerKi * controllerKit; | |||||
| controllerKiBuffFlag = 0; | |||||
| } | |||||
| if (controllerKitBuffFlag > 0) | |||||
| { | |||||
| controllerKit = controllerKitBuff; | |||||
| controllerErrSumMax = 1 / controllerKi * controllerKit; | |||||
| controllerKitBuffFlag = 0; | |||||
| } | |||||
| float m = 0.4833149757, b = 35.1689715661; | |||||
| tAct = ((float) cartridge_temperature) * m + b; | |||||
| err = tSet - tAct; | |||||
| errSum = errSum + err; | |||||
| if (errSum < -controllerErrSumMax) | |||||
| { | |||||
| errSum = -controllerErrSumMax; | |||||
| } | |||||
| if (errSum > controllerErrSumMax) | |||||
| { | |||||
| errSum = controllerErrSumMax; | |||||
| } | |||||
| outOrig = controllerKp * err + controllerKi * errSum + controllerKd * (err - errAlt); | |||||
| errAlt = err; | |||||
| outOld = out; | |||||
| if (outOrig < 0) | |||||
| { | |||||
| out = 0; | |||||
| } | |||||
| else if (outOrig > OUT_MAX) | |||||
| { | |||||
| out = OUT_MAX; | |||||
| } | |||||
| else | |||||
| { | |||||
| out = (uint16_t) outOrig; | |||||
| } | |||||
| TCA0.SINGLE.CMP0BUF = out; | |||||
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ | |||||
| if (out == 0 || out == OUT_MAX) | |||||
| { | |||||
| outSettlingState = 0; | |||||
| outSettlingCounter = 0; | |||||
| } | |||||
| else | |||||
| { | |||||
| if (outSettlingState == 0) | |||||
| { | |||||
| outSettlingCounter++; | |||||
| int16_t outDiff = (int16_t) (out - outOld); | |||||
| if (outDiff > 25) | |||||
| { | |||||
| outSettlingCounter = 0; | |||||
| } | |||||
| if (outDiff < -25) | |||||
| { | |||||
| outSettlingCounter = 0; | |||||
| } | |||||
| if (outSettlingCounter > 180) | |||||
| { | |||||
| outSettlingState = 1; | |||||
| } | |||||
| } | |||||
| } | |||||
| if (outSettlingState == 0) | |||||
| { | |||||
| out_avg = out; | |||||
| } | |||||
| else | |||||
| { | |||||
| if (out > out_avg) | |||||
| { | |||||
| if (out < out_avg + sleep_kp_value) | |||||
| { | |||||
| out_avg_counter++; | |||||
| } | |||||
| //~ out_avg_counter++; | |||||
| } | |||||
| else if (out < out_avg) | |||||
| { | |||||
| out_avg_counter--; | |||||
| } | |||||
| if (out_avg_counter > 10) | |||||
| { | |||||
| if (out_avg < 800) | |||||
| { | |||||
| out_avg++; | |||||
| } | |||||
| out_avg_counter = 0; | |||||
| } | |||||
| else if (out_avg_counter < -3) | |||||
| { | |||||
| if (out_avg > 0) | |||||
| { | |||||
| out_avg--; | |||||
| } | |||||
| out_avg_counter = 0; | |||||
| } | |||||
| if (sleep_state == 0) | |||||
| { | |||||
| sleep_counter++; | |||||
| } | |||||
| if (out > out_avg + sleep_kp_value) | |||||
| { | |||||
| sleep_counter = 0; | |||||
| if (sleep_state > 0) | |||||
| { | |||||
| tSetBuff = 330; | |||||
| tSetBuffFlag++; | |||||
| sleep_state = 0; | |||||
| } | |||||
| } | |||||
| if (sleep_counter > 2350) | |||||
| { | |||||
| tSetBuff = 200; | |||||
| tSetBuffFlag++; | |||||
| sleep_counter = 0; | |||||
| sleep_state++; | |||||
| } | |||||
| } | |||||
| //~ if (adc_counter > 4) | |||||
| //~ { | |||||
| //~ out_data[out_data_pointer] = (uint8_t) (out >> 2); | |||||
| //~ out_data_pointer++; | |||||
| //~ out_data_pointer &= 31; | |||||
| //~ out_avg = 0; | |||||
| //~ for (uint8_t i = 0; i < 32; i++) | |||||
| //~ { | |||||
| //~ out_avg += out_data[i]; | |||||
| //~ } | |||||
| //~ out_avg >>= 3; | |||||
| //~ } | |||||
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ | |||||
| if (adc_counter > 8) | |||||
| { | |||||
| adc_counter = 0; | |||||
| if (debugDataEnable > 0) | |||||
| { | |||||
| DebugAppendData(0x8d); | |||||
| DebugAppendData((uint8_t) (cartridge_temperature >> 8)); | |||||
| DebugAppendData((uint8_t) (cartridge_temperature)); | |||||
| uint32_t value = *(uint32_t*) &tAct; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &tSet; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &err; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &errSum; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &outOrig; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| DebugAppendData((uint8_t) ((out & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (out & 0x00FF)); | |||||
| DebugAppendData((uint8_t) ((out_avg & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (out_avg & 0x00FF)); | |||||
| DebugAppendData((uint8_t) ((sleep_counter & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (sleep_counter & 0x00FF)); | |||||
| DebugSendData(); | |||||
| } | |||||
| else | |||||
| { | |||||
| DebugAppendData(0x8c); | |||||
| uint32_t value = *(uint32_t*) &tAct; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &tSet; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| DebugSendData(); | |||||
| } | |||||
| } | |||||
| else | |||||
| { | |||||
| adc_counter++; | |||||
| } | |||||
| break; | |||||
| default: | |||||
| break; | |||||
| } | |||||
| //~ if (adc_channel < 100) | |||||
| //~ { | |||||
| //~ DebugAppendData(0x11); | |||||
| //~ DebugAppendData(adc_channel); | |||||
| //~ DebugAppendData((uint8_t) (adc_value >> 8)); | |||||
| //~ DebugAppendData((uint8_t) (adc_value)); | |||||
| //~ DebugSendData(); | |||||
| //~ } | |||||
| //~ else | |||||
| //~ { | |||||
| //~ } | |||||
| adc_channel = 0; | |||||
| } | |||||
| ISR(TCA0_CMP1_vect) | |||||
| { | |||||
| TCA0.SINGLE.INTFLAGS = TCA_SINGLE_CMP1_bm; | |||||
| VREF.CTRLA = VREF_ADC0REFSEL_1V5_gc | VREF_DAC0REFSEL_0V55_gc; | |||||
| ADC0.MUXPOS = ADC_MUXPOS_CARTRIDGE_TEMPERATURE; | |||||
| _delay_us(10); | |||||
| ADC0.COMMAND = ADC_STCONV_bm; | |||||
| adc_channel = 100; | |||||
| } | |||||
| int main(void) | |||||
| { | |||||
| CPU_CCP = CCP_IOREG_gc; | |||||
| //~ CLKCTRL.MCLKCTRLB = CLKCTRL_PDIV_4X_gc | CLKCTRL_PEN_bm; | |||||
| CLKCTRL.MCLKCTRLB = 0; | |||||
| /* | |||||
| * PA2: power_mosfet | |||||
| * PA4: cartridge_resistance_measure (AIN4) | |||||
| * PA7: cartridge_current_measure (AIN7) | |||||
| */ | |||||
| PORTA.DIR = 0b00000100; | |||||
| PORTA.OUT = 0b00000000; | |||||
| //~ PORTA.INTFLAGS = ; | |||||
| //~ PORTA.PIN0CTRL = ; | |||||
| //~ PORTA.PIN1CTRL = ; | |||||
| //~ PORTA.PIN2CTRL = ; | |||||
| //~ PORTA.PIN3CTRL = ; | |||||
| PORTA.PIN4CTRL = PORT_ISC_INPUT_DISABLE_gc; | |||||
| //~ PORTA.PIN5CTRL = ; | |||||
| //~ PORTA.PIN6CTRL = ; | |||||
| PORTA.PIN7CTRL = PORT_ISC_INPUT_DISABLE_gc; | |||||
| /* | |||||
| * PB2: TxD | |||||
| * PB3: RxD | |||||
| * PB4: v_in_measure (AIN9) | |||||
| * PB5: cartridge_temperature_measure (AIN8) | |||||
| */ | |||||
| PORTB.DIR = 0b00000100; | |||||
| PORTB.OUT = 0b00001000; | |||||
| //~ PORTB.INTFLAGS = ; | |||||
| //~ PORTB.PIN0CTRL = ; | |||||
| //~ PORTB.PIN1CTRL = ; | |||||
| //~ PORTB.PIN2CTRL = ; | |||||
| //~ PORTB.PIN3CTRL = ; | |||||
| PORTB.PIN4CTRL = PORT_ISC_INPUT_DISABLE_gc; | |||||
| PORTB.PIN5CTRL = PORT_ISC_INPUT_DISABLE_gc; | |||||
| //~ PORTB.PIN6CTRL = ; | |||||
| //~ PORTB.PIN7CTRL = ; | |||||
| /* | |||||
| * PC0: measure_mosfet | |||||
| */ | |||||
| PORTC.DIR = 0b00000001; | |||||
| PORTC.OUT = 0b00000000; | |||||
| //~ PORTC.INTFLAGS = ; | |||||
| //~ PORTC.PIN0CTRL = ; | |||||
| //~ PORTC.PIN1CTRL = ; | |||||
| //~ PORTC.PIN2CTRL = ; | |||||
| //~ PORTC.PIN3CTRL = ; | |||||
| //~ PORTC.PIN4CTRL = ; | |||||
| //~ PORTC.PIN5CTRL = ; | |||||
| // configure USART | |||||
| USART0.BAUD = DEF_BAUD; | |||||
| USART0.CTRLC = USART_CMODE_ASYNCHRONOUS_gc | USART_PMODE_DISABLED_gc | USART_SBMODE_1BIT_gc | USART_CHSIZE_8BIT_gc; | |||||
| USART0.CTRLB = USART_RXEN_bm | USART_TXEN_bm | USART_RXMODE_NORMAL_gc; | |||||
| USART0.CTRLA = USART_RXCIE_bm | USART_RS485_OFF_gc; | |||||
| //~ while (RTC.STATUS > 0) {} // Wait for all register to be synchronized | |||||
| //~ RTC.CLKSEL = 0b00000000; | |||||
| //~ //RTC.CNTL = 0; | |||||
| //~ //RTC.CNTH = 0; | |||||
| //~ //RTC.CMPL = 10; | |||||
| //~ //RTC.CMPH = 0; | |||||
| //~ RTC.PERL = 0; | |||||
| //~ RTC.PERH = 134; | |||||
| //~ RTC.INTCTRL = 0b00000010; | |||||
| //~ RTC.CTRLA = 0b10000001; | |||||
| // configure VREF | |||||
| VREF.CTRLA = VREF_ADC0REFSEL_0V55_gc | VREF_DAC0REFSEL_0V55_gc; | |||||
| VREF.CTRLB = VREF_ADC0REFEN_bm | VREF_DAC0REFEN_bm; | |||||
| // configure ADC | |||||
| ADC0.CTRLB = ADC_SAMPNUM_ACC1_gc; | |||||
| ADC0.CTRLC = ADC_REFSEL_INTREF_gc | ADC_PRESC_DIV256_gc; | |||||
| ADC0.CTRLD = ADC_INITDLY_DLY0_gc; | |||||
| ADC0.CTRLE = ADC_WINCM_NONE_gc; | |||||
| ADC0.MUXPOS = ADC_MUXPOS_CARTRIDGE_RESISTANCE; | |||||
| ADC0.INTCTRL = ADC_RESRDY_bm; | |||||
| ADC0.CTRLA = ADC_ENABLE_bm; | |||||
| // configure DAC | |||||
| DAC0.DATA = 112; | |||||
| DAC0.CTRLA = DAC_RUNSTDBY_bm |DAC_ENABLE_bm; | |||||
| // configure AC0 | |||||
| AC0.MUXCTRLA = AC_MUXPOS_PIN0_gc | AC_MUXNEG_DAC_gc; | |||||
| AC0.CTRLA = AC_RUNSTDBY_bm | AC_ENABLE_bm; | |||||
| //~ AC0.CTRLA = AC_RUNSTDBY_bm | AC_OUTEN_bm | AC_LPMODE_bm | AC_ENABLE_bm; | |||||
| // configure TCA0 | |||||
| TCA0.SINGLE.CTRLB = TCA_SINGLE_WGMODE_SINGLESLOPE_gc; | |||||
| TCA0.SINGLE.INTCTRL = TCA_SINGLE_CMP1EN_bm; | |||||
| TCA0.SINGLE.CNT = 0; | |||||
| TCA0.SINGLE.PER = 976; | |||||
| TCA0.SINGLE.CMP0BUF = 0; | |||||
| TCA0.SINGLE.CMP1BUF = 900; | |||||
| // configure TCB0 | |||||
| TCB0.CTRLB = TCB_ASYNC_bm | TCB_CCMPEN_bm | TCB_CNTMODE_SINGLE_gc; | |||||
| TCB0.EVCTRL = TCB_CAPTEI_bm; | |||||
| TCB0.CCMP = 50; | |||||
| TCB0.CNT = 0; | |||||
| // configure CCL | |||||
| CCL.SEQCTRL0 = CCL_SEQSEL_RS_gc; | |||||
| //~ CCL.LUT0CTRLB = CCL_INSEL1_AC0_gc | CCL_INSEL0_TCA0_gc; | |||||
| //~ CCL.TRUTH0 = 0b00001010; | |||||
| //~ CCL.LUT0CTRLB = CCL_INSEL1_TCB0_gc; | |||||
| //~ CCL.LUT0CTRLB = CCL_INSEL0_TCA0_gc; | |||||
| CCL.LUT0CTRLB = CCL_INSEL1_TCB0_gc | CCL_INSEL0_TCA0_gc; | |||||
| CCL.LUT0CTRLC = CCL_INSEL2_FEEDBACK_gc; | |||||
| CCL.TRUTH0 = 0b00000010; | |||||
| CCL.LUT0CTRLA = CCL_EDGEDET_bm | CCL_ENABLE_bm; | |||||
| //~ CCL.LUT1CTRLB = CCL_INSEL1_AC0_gc | CCL_INSEL0_TCA0_gc; | |||||
| //~ CCL.TRUTH1 = 0b00001101; | |||||
| CCL.LUT1CTRLB = CCL_INSEL1_AC0_gc | CCL_INSEL0_TCA0_gc; | |||||
| CCL.TRUTH1 = 0b00001101; | |||||
| //~ CCL.LUT1CTRLA = CCL_EDGEDET_bm | CCL_FILTSEL_SYNCH_gc | CCL_ENABLE_bm; | |||||
| CCL.LUT1CTRLA = CCL_ENABLE_bm; | |||||
| CCL.CTRLA = CCL_ENABLE_bm; | |||||
| // configure EVSYS | |||||
| EVSYS.ASYNCCH0 = EVSYS_ASYNCCH0_CCL_LUT0_gc; | |||||
| EVSYS.ASYNCCH1 = EVSYS_ASYNCCH1_AC0_OUT_gc; | |||||
| EVSYS.ASYNCUSER_EVOUT0 = EVSYS_ASYNCUSER_ASYNCCH0_gc; | |||||
| EVSYS.ASYNCUSER_TCB0 = EVSYS_ASYNCUSER_ASYNCCH1_gc; | |||||
| //~ EVSYS.ASYNCUSER_CCL_LUT0EV0 = EVSYS_ASYNCUSER_ASYNCCH2_gc; | |||||
| PORTMUX.CTRLA = PORTMUX_EVOUT0_bm; | |||||
| sei(); | |||||
| TCB0.CTRLA = TCB_ENABLE_bm; | |||||
| TCA0.SINGLE.CTRLA = TCA_SINGLE_CLKSEL_DIV1024_gc | TCA_SINGLE_ENABLE_bm; | |||||
| //~ _delay_ms(2000); | |||||
| //~ DebugAppendData(0xab); | |||||
| //~ DebugAppendData(0xcd); | |||||
| //~ DebugAppendData(0xef); | |||||
| //~ DebugSendData(); | |||||
| uint32_t value; | |||||
| while(1) | |||||
| { | |||||
| /* | |||||
| * debug protocol: 0xff, 0xf1, [length_of_data], [data] | |||||
| */ | |||||
| if (debugRxStateMachine == 0x04) | |||||
| { | |||||
| switch (debugRxBuffer[0]) | |||||
| { | |||||
| //~ case 0x10: | |||||
| //~ DebugAppendData(debugRxBuffer[0]); | |||||
| //~ if (adc_channel == 0) | |||||
| //~ { | |||||
| //~ switch (debugRxBuffer[1]) | |||||
| //~ { | |||||
| //~ case 1: | |||||
| //~ VREF.CTRLA = VREF_ADC0REFSEL_0V55_gc | VREF_DAC0REFSEL_0V55_gc; | |||||
| //~ ADC0.MUXPOS = ADC_MUXPOS_CARTRIDGE_RESISTANCE; | |||||
| //~ _delay_us(10); | |||||
| //~ ADC0.COMMAND = ADC_STCONV_bm; | |||||
| //~ adc_channel = 1; | |||||
| //~ break; | |||||
| //~ case 2: | |||||
| //~ VREF.CTRLA = VREF_ADC0REFSEL_0V55_gc | VREF_DAC0REFSEL_0V55_gc; | |||||
| //~ ADC0.MUXPOS = ADC_MUXPOS_CARTRIDGE_CURRENT; | |||||
| //~ _delay_us(10); | |||||
| //~ ADC0.COMMAND = ADC_STCONV_bm; | |||||
| //~ adc_channel = 2; | |||||
| //~ break; | |||||
| //~ case 3: | |||||
| //~ VREF.CTRLA = VREF_ADC0REFSEL_0V55_gc | VREF_DAC0REFSEL_0V55_gc; | |||||
| //~ ADC0.MUXPOS = ADC_MUXPOS_CARTRIDGE_TEMPERATURE; | |||||
| //~ _delay_us(10); | |||||
| //~ ADC0.COMMAND = ADC_STCONV_bm; | |||||
| //~ adc_channel = 3; | |||||
| //~ break; | |||||
| //~ case 4: | |||||
| //~ VREF.CTRLA = VREF_ADC0REFSEL_4V34_gc | VREF_DAC0REFSEL_0V55_gc; | |||||
| //~ ADC0.MUXPOS = ADC_MUXPOS_V_IN; | |||||
| //~ _delay_us(10); | |||||
| //~ ADC0.COMMAND = ADC_STCONV_bm; | |||||
| //~ adc_channel = 4; | |||||
| //~ break; | |||||
| //~ default: | |||||
| //~ break; | |||||
| //~ } | |||||
| //~ DebugAppendData(adc_channel); | |||||
| //~ } | |||||
| //~ else | |||||
| //~ { | |||||
| //~ DebugAppendData(255); | |||||
| //~ } | |||||
| //~ break; | |||||
| //~ case 0x20: | |||||
| //~ DebugAppendData(debugRxBuffer[0]); | |||||
| //~ if (debugRxBuffer[1] > 0) | |||||
| //~ { | |||||
| //~ PORTC.OUTSET = 0b00000001; | |||||
| //~ DebugAppendData(1); | |||||
| //~ } | |||||
| //~ else | |||||
| //~ { | |||||
| //~ PORTC.OUTCLR = 0b00000001; | |||||
| //~ DebugAppendData(0); | |||||
| //~ } | |||||
| //~ break; | |||||
| case 0x33: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| debugDataEnable = 1; | |||||
| break; | |||||
| case 0x34: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| debugDataEnable = 0; | |||||
| break; | |||||
| case 0x91: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| uint16_t receivedTemperatureSet = (uint16_t) (debugRxBuffer[1] * 256 + debugRxBuffer[2]); | |||||
| if (receivedTemperatureSet > 400) | |||||
| { | |||||
| receivedTemperatureSet = 400; | |||||
| } | |||||
| tSetBuff = (float) receivedTemperatureSet; | |||||
| tSetBuffFlag++; | |||||
| value = *(uint32_t*) &tSetBuff; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| break; | |||||
| case 0xa0: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| value = ((uint32_t) debugRxBuffer[1]) << 24 | ((uint32_t) debugRxBuffer[2]) << 16 | ((uint32_t) debugRxBuffer[3]) << 8 | ((uint32_t) debugRxBuffer[4]); | |||||
| controllerKpBuff = *(float*) &value; | |||||
| controllerKpBuffFlag++; | |||||
| value = *(uint32_t*) &controllerKpBuff; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| break; | |||||
| case 0xa1: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| value = ((uint32_t) debugRxBuffer[1]) << 24 | ((uint32_t) debugRxBuffer[2]) << 16 | ((uint32_t) debugRxBuffer[3]) << 8 | ((uint32_t) debugRxBuffer[4]); | |||||
| controllerKiBuff = *(float*) &value; | |||||
| controllerKiBuffFlag++; | |||||
| value = *(uint32_t*) &controllerKiBuff; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| break; | |||||
| case 0xa2: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| value = ((uint32_t) debugRxBuffer[1]) << 24 | ((uint32_t) debugRxBuffer[2]) << 16 | ((uint32_t) debugRxBuffer[3]) << 8 | ((uint32_t) debugRxBuffer[4]); | |||||
| controllerKdBuff = *(float*) &value; | |||||
| controllerKdBuffFlag++; | |||||
| value = *(uint32_t*) &controllerKdBuff; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| break; | |||||
| case 0xa3: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| value = ((uint32_t) debugRxBuffer[1]) << 24 | ((uint32_t) debugRxBuffer[2]) << 16 | ((uint32_t) debugRxBuffer[3]) << 8 | ((uint32_t) debugRxBuffer[4]); | |||||
| controllerKitBuff = *(float*) &value; | |||||
| controllerKitBuffFlag++; | |||||
| value = *(uint32_t*) &controllerKitBuff; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| break; | |||||
| case 0xf0: | |||||
| DebugAppendData(debugRxBuffer[0]); | |||||
| value = *(uint32_t*) &tSet; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &controllerKp; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &controllerKi; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &controllerKd; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| value = *(uint32_t*) &controllerKit; | |||||
| DebugAppendData((uint8_t) ((value & 0xFF000000) >> 24)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF0000) >> 16)); | |||||
| DebugAppendData((uint8_t) ((value & 0xFF00) >> 8)); | |||||
| DebugAppendData((uint8_t) (value & 0x00FF)); | |||||
| break; | |||||
| default: | |||||
| DebugAppendData(0xff); | |||||
| DebugAppendData(0xde); | |||||
| DebugAppendData(0xad); | |||||
| DebugAppendData(0xbe); | |||||
| DebugAppendData(0xef); | |||||
| break; | |||||
| } | |||||
| DebugSendData(); | |||||
| debugRxFrameLength = 0; | |||||
| debugRxStateMachine = 0x00; | |||||
| } | |||||
| } | |||||
| } | |||||
+ 43
- 0
main.h
View File
| @ -0,0 +1,43 @@ | |||||
| #ifndef _AVR_ATTINY817_H_INCLUDED | |||||
| # error "<avr/iotn817.h> must be included before this file." | |||||
| #endif | |||||
| /* | |||||
| -------------------------------------------------------------------------- | |||||
| EVSYS - Event System | |||||
| -------------------------------------------------------------------------- | |||||
| */ | |||||
| #define ASYNCUSER_TCB0 ASYNCUSER0 | |||||
| #define ASYNCUSER_ADC0 ASYNCUSER1 | |||||
| #define ASYNCUSER_CCL_LUT0EV0 ASYNCUSER2 | |||||
| #define ASYNCUSER_CCL_LUT1EV0 ASYNCUSER3 | |||||
| #define ASYNCUSER_CCL_LUT0EV1 ASYNCUSER4 | |||||
| #define ASYNCUSER_CCL_LUT1EV1 ASYNCUSER5 | |||||
| #define ASYNCUSER_TCD0_EV0 ASYNCUSER6 | |||||
| #define ASYNCUSER_TCD0_EV1 ASYNCUSER7 | |||||
| #define ASYNCUSER_EVOUT0 ASYNCUSER8 | |||||
| #define ASYNCUSER_EVOUT1 ASYNCUSER9 | |||||
| #define ASYNCUSER_EVOUT2 ASYNCUSER10 | |||||
| #define SYNCUSER_TCA0 SYNCUSER0 | |||||
| #define SYNCUSER_USART0 SYNCUSER1 | |||||
| /* Asynchronous User Ch x Input Selection */ | |||||
| typedef enum EVSYS_ASYNCUSER_enum | |||||
| { | |||||
| EVSYS_ASYNCUSER_OFF_gc = (0x00<<0), /* Off */ | |||||
| EVSYS_ASYNCUSER_SYNCCH0_gc = (0x01<<0), /* Synchronous Event Channel 0 */ | |||||
| EVSYS_ASYNCUSER_SYNCCH1_gc = (0x02<<0), /* Synchronous Event Channel 1 */ | |||||
| EVSYS_ASYNCUSER_ASYNCCH0_gc = (0x03<<0), /* Asynchronous Event Channel 0 */ | |||||
| EVSYS_ASYNCUSER_ASYNCCH1_gc = (0x04<<0), /* Asynchronous Event Channel 1 */ | |||||
| EVSYS_ASYNCUSER_ASYNCCH2_gc = (0x05<<0), /* Asynchronous Event Channel 2 */ | |||||
| EVSYS_ASYNCUSER_ASYNCCH3_gc = (0x06<<0), /* Asynchronous Event Channel 3 */ | |||||
| } EVSYS_ASYNCUSER_t; | |||||
| /* Synchronous User Ch x Input Selection */ | |||||
| typedef enum EVSYS_SYNCUSER_enum | |||||
| { | |||||
| EVSYS_SYNCUSER_OFF_gc = (0x00<<0), /* Off */ | |||||
| EVSYS_SYNCUSER_SYNCCH0_gc = (0x01<<0), /* Synchronous Event Channel 0 */ | |||||
| EVSYS_SYNCUSER_SYNCCH1_gc = (0x02<<0), /* Synchronous Event Channel 1 */ | |||||
| } EVSYS_SYNCUSER_t; | |||||
+ 481
- 0
makefile
View File
| @ -0,0 +1,481 @@ | |||||
| # Hey Emacs, this is a -*- makefile -*- | |||||
| # | |||||
| # WinAVR makefile written by Eric B. Weddington, Jörg Wunsch, et al. | |||||
| # Released to the Public Domain | |||||
| # Please read the make user manual! | |||||
| # | |||||
| # Additional material for this makefile was submitted by: | |||||
| # Tim Henigan | |||||
| # Peter Fleury | |||||
| # Reiner Patommel | |||||
| # Sander Pool | |||||
| # Frederik Rouleau | |||||
| # Markus Pfaff | |||||
| # | |||||
| # On command line: | |||||
| # | |||||
| # make all = Make software. | |||||
| # | |||||
| # make clean = Clean out built project files. | |||||
| # | |||||
| # make coff = Convert ELF to AVR COFF (for use with AVR Studio 3.x or VMLAB). | |||||
| # | |||||
| # make extcoff = Convert ELF to AVR Extended COFF (for use with AVR Studio | |||||
| # 4.07 or greater). | |||||
| # | |||||
| # make program = Download the hex file to the device, using avrdude. Please | |||||
| # customize the avrdude settings below first! | |||||
| # | |||||
| # make filename.s = Just compile filename.c into the assembler code only | |||||
| # | |||||
| # To rebuild project do "make clean" then "make all". | |||||
| # | |||||
| # mth 2004/09 | |||||
| # Differences from WinAVR 20040720 sample: | |||||
| # - DEPFLAGS according to Eric Weddingtion's fix (avrfreaks/gcc-forum) | |||||
| # - F_OSC Define in CFLAGS and AFLAGS | |||||
| # MCU name | |||||
| MCU = attiny817 | |||||
| # Main Oscillator Frequency | |||||
| # This is only used to define F_OSC in all assembler and c-sources. | |||||
| F_CPU = 20000000 | |||||
| # Output format. (can be srec, ihex, binary) | |||||
| FORMAT = ihex | |||||
| # Target file name (without extension). | |||||
| TARGET = main | |||||
| # List C source files here. (C dependencies are automatically generated.) | |||||
| SRC = $(TARGET).c | |||||
| # List Assembler source files here. | |||||
| # Make them always end in a capital .S. Files ending in a lowercase .s | |||||
| # will not be considered source files but generated files (assembler | |||||
| # output from the compiler), and will be deleted upon "make clean"! | |||||
| # Even though the DOS/Win* filesystem matches both .s and .S the same, | |||||
| # it will preserve the spelling of the filenames, and gcc itself does | |||||
| # care about how the name is spelled on its command-line. | |||||
| ASRC = | |||||
| # Optimization level, can be [0, 1, 2, 3, s]. | |||||
| # 0 = turn off optimization. s = optimize for size. | |||||
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) | |||||
| OPT = s | |||||
| # Debugging format. | |||||
| # Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. | |||||
| # AVR (extended) COFF requires stabs, plus an avr-objcopy run. | |||||
| #DEBUG = stabs | |||||
| DEBUG = dwarf-2 | |||||
| # List any extra directories to look for include files here. | |||||
| # Each directory must be seperated by a space. | |||||
| EXTRAINCDIRS = | |||||
| # Compiler flag to set the C Standard level. | |||||
| # c89 - "ANSI" C | |||||
| # gnu89 - c89 plus GCC extensions | |||||
| # c99 - ISO C99 standard (not yet fully implemented) | |||||
| # gnu99 - c99 plus GCC extensions | |||||
| CSTANDARD = -std=gnu99 | |||||
| # Place -D or -U options here | |||||
| CDEFS = | |||||
| # Place -I options here | |||||
| CINCS = | |||||
| # Compiler flags. | |||||
| # -g*: generate debugging information | |||||
| # -O*: optimization level | |||||
| # -f...: tuning, see GCC manual and avr-libc documentation | |||||
| # -Wall...: warning level | |||||
| # -Wa,...: tell GCC to pass this to the assembler. | |||||
| # -adhlns...: create assembler listing | |||||
| CFLAGS = -g$(DEBUG) | |||||
| CFLAGS += $(CDEFS) $(CINCS) | |||||
| CFLAGS += -O$(OPT) | |||||
| CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums | |||||
| CFLAGS += -Wall -Wstrict-prototypes | |||||
| CFLAGS += -Wa,-adhlns=$(<:.c=.lst) | |||||
| CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) | |||||
| CFLAGS += $(CSTANDARD) | |||||
| CFLAGS += -DF_CPU=$(F_CPU) | |||||
| #CFLAGS += -B /home/bucde/__avr_gcc/ATtiny_DFP/1.3.172/gcc/dev/attiny817/ | |||||
| #CFLAGS += -I /home/bucde/__avr_gcc/ATtiny_DFP/1.3.172/include/ | |||||
| # Assembler flags. | |||||
| # -Wa,...: tell GCC to pass this to the assembler. | |||||
| # -ahlms: create listing | |||||
| # -gstabs: have the assembler create line number information; note that | |||||
| # for use in COFF files, additional information about filenames | |||||
| # and function names needs to be present in the assembler source | |||||
| # files -- see avr-libc docs [FIXME: not yet described there] | |||||
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs | |||||
| ASFLAGS += -DF_OSC=$(F_OSC) | |||||
| #Additional libraries. | |||||
| # Minimalistic printf version | |||||
| PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min | |||||
| # Floating point printf version (requires MATH_LIB = -lm below) | |||||
| PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt | |||||
| PRINTF_LIB = | |||||
| # Minimalistic scanf version | |||||
| SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min | |||||
| # Floating point + %[ scanf version (requires MATH_LIB = -lm below) | |||||
| SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt | |||||
| SCANF_LIB = | |||||
| MATH_LIB = -lm | |||||
| # External memory options | |||||
| # 64 KB of external RAM, starting after internal RAM (ATmega128!), | |||||
| # used for variables (.data/.bss) and heap (malloc()). | |||||
| #EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff | |||||
| # 64 KB of external RAM, starting after internal RAM (ATmega128!), | |||||
| # only used for heap (malloc()). | |||||
| #EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff | |||||
| EXTMEMOPTS = | |||||
| # Linker flags. | |||||
| # -Wl,...: tell GCC to pass this to linker. | |||||
| # -Map: create map file | |||||
| # --cref: add cross reference to map file | |||||
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref | |||||
| LDFLAGS += $(EXTMEMOPTS) | |||||
| LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) | |||||
| LDFLAGS += -Ttext=0x0000 | |||||
| # Programming support using avrdude. Settings and variables. | |||||
| # Programming hardware: alf avr910 avrisp bascom bsd | |||||
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 | |||||
| # | |||||
| # Type: avrdude -c ? | |||||
| # to get a full listing. | |||||
| # | |||||
| AVRDUDE_PROGRAMMER = xplainedmini_updi | |||||
| # com1 = serial port. Use lpt1 to connect to parallel port. | |||||
| AVRDUDE_PORT = usb | |||||
| # programmer connected to serial device | |||||
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex | |||||
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep | |||||
| # Uncomment the following if you want avrdude's erase cycle counter. | |||||
| # Note that this counter needs to be initialized first using -Yn, | |||||
| # see avrdude manual. | |||||
| #AVRDUDE_ERASE_COUNTER = -y | |||||
| # Uncomment the following if you do /not/ wish a verification to be | |||||
| # performed after programming the device. | |||||
| #AVRDUDE_NO_VERIFY = -V | |||||
| # Increase verbosity level. Please use this when submitting bug | |||||
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> | |||||
| # to submit bug reports. | |||||
| #AVRDUDE_VERBOSE = -v -v | |||||
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) | |||||
| #AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) | |||||
| #AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) | |||||
| #AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) | |||||
| #read fuses | |||||
| #./avrdude -p atmega4808 -P usb -c xplainedmini_updi -U fuse0:r:fuse_wdtcfg:h -U fuse1:r:fuse_bodcfg:h -U fuse2:r:fuse_osccfg:h -U fuse5:r:fuse_syscfg0:h -U fuse6:r:fuse_syscfg1:h -U fuse7:r:fuse_append:h -U fuse8:r:fuse_bootend:h | |||||
| AVRDUDE_FUSE0_WDTCFG = 0x00 | |||||
| AVRDUDE_FUSE1_BODCFG = 0x00 | |||||
| AVRDUDE_FUSE2_OSCCFG = 0x02 | |||||
| AVRDUDE_FUSE5_SYSCFG0 = 0b11101101 | |||||
| #AVRDUDE_FUSE5_SYSCFG0[2] must be set to 1 | |||||
| #AVRDUDE_FUSE5_SYSCFG0[5] must be set to 1 | |||||
| AVRDUDE_FUSE6_SYSCFG1 = 0x00 | |||||
| AVRDUDE_FUSE7_APPEND = 0x00 | |||||
| AVRDUDE_FUSE8_BOOTEND = 0x00 | |||||
| AVRDUDE_WRITE_FUSES = -U fuse0:w:$(AVRDUDE_FUSE0_WDTCFG):m | |||||
| AVRDUDE_WRITE_FUSES += -U fuse1:w:$(AVRDUDE_FUSE1_BODCFG):m | |||||
| AVRDUDE_WRITE_FUSES += -U fuse2:w:$(AVRDUDE_FUSE2_OSCCFG):m | |||||
| AVRDUDE_WRITE_FUSES += -U fuse5:w:$(AVRDUDE_FUSE5_SYSCFG0):m | |||||
| AVRDUDE_WRITE_FUSES += -U fuse6:w:$(AVRDUDE_FUSE6_SYSCFG1):m | |||||
| AVRDUDE_WRITE_FUSES += -U fuse7:w:$(AVRDUDE_FUSE7_APPEND):m | |||||
| AVRDUDE_WRITE_FUSES += -U fuse8:w:$(AVRDUDE_FUSE8_BOOTEND):m | |||||
| AVRDUDE_READ_FUSES = -U fuse0:r:fuse0_wdtcfg:h | |||||
| AVRDUDE_READ_FUSES += -U fuse1:r:fuse1_bodcfg:h | |||||
| AVRDUDE_READ_FUSES += -U fuse2:r:fuse2_osccfg:h | |||||
| AVRDUDE_READ_FUSES += -U fuse5:r:fuse5_syscfg0:h | |||||
| AVRDUDE_READ_FUSES += -U fuse6:r:fuse6_syscfg1:h | |||||
| AVRDUDE_READ_FUSES += -U fuse7:r:fuse7_append:h | |||||
| AVRDUDE_READ_FUSES += -U fuse8:r:fuse8_bootend:h | |||||
| # --------------------------------------------------------------------------- | |||||
| # Define directories, if needed. | |||||
| #DIRAVR = /home/bucde/local/avr | |||||
| DIRAVR = /home/bucde/documents/hobby/repos/avrgcc | |||||
| #DIRAVR = ${AVRGCC} | |||||
| DIRAVRBIN = $(DIRAVR)/bin | |||||
| #DIRAVRUTILS = $(DIRAVR)/utils/bin | |||||
| #DIRINC = . | |||||
| #DIRLIB = $(DIRAVR)/avr/lib | |||||
| # Define programs and commands. | |||||
| SHELL = sh | |||||
| CC = $(DIRAVRBIN)/avr-gcc | |||||
| OBJCOPY = $(DIRAVRBIN)/avr-objcopy | |||||
| OBJDUMP = $(DIRAVRBIN)/avr-objdump | |||||
| SIZE = $(DIRAVRBIN)/avr-size | |||||
| NM = $(DIRAVRBIN)/avr-nm | |||||
| AVRDUDE = $(DIRAVRBIN)/avrdude | |||||
| REMOVE = rm -f | |||||
| COPY = cp | |||||
| # Define Messages | |||||
| # English | |||||
| MSG_ERRORS_NONE = Errors: none | |||||
| MSG_INFO = -------- info -------- | |||||
| MSG_BEGIN = -------- begin -------- | |||||
| MSG_END = -------- end -------- | |||||
| MSG_SIZE_BEFORE = Size before: | |||||
| MSG_SIZE_AFTER = Size after: | |||||
| MSG_COFF = Converting to AVR COFF: | |||||
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: | |||||
| MSG_FLASH = Creating load file for Flash: | |||||
| MSG_EEPROM = Creating load file for EEPROM: | |||||
| MSG_EXTENDED_LISTING = Creating Extended Listing: | |||||
| MSG_SYMBOL_TABLE = Creating Symbol Table: | |||||
| MSG_LINKING = Linking: | |||||
| MSG_COMPILING = Compiling: | |||||
| MSG_ASSEMBLING = Assembling: | |||||
| MSG_CLEANING = Cleaning project: | |||||
| # Define all object files. | |||||
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) | |||||
| # Define all listing files. | |||||
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) | |||||
| # Compiler flags to generate dependency files. | |||||
| ### GENDEPFLAGS = -Wp,-M,-MP,-MT,$(*F).o,-MF,.dep/$(@F).d | |||||
| GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d | |||||
| # Combine all necessary flags and optional flags. | |||||
| # Add target processor to flags. | |||||
| #ALL_CFLAGS = -mmcu=$(MCU) -B /home/bucde/local/packs/Atmel.ATtiny_DFP.1.3.172.atpack_FILES/gcc/dev/attiny817 -I. $(CFLAGS) $(GENDEPFLAGS) | |||||
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) | |||||
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) | |||||
| # Default target. | |||||
| all: info begin gccversion sizebefore build sizeafter finished end | |||||
| build: elf hex eep lss sym | |||||
| elf: $(TARGET).elf | |||||
| hex: $(TARGET).hex | |||||
| eep: $(TARGET).eep | |||||
| lss: $(TARGET).lss | |||||
| sym: $(TARGET).sym | |||||
| # Eye candy. | |||||
| # AVR Studio 3.x does not check make's exit code but relies on | |||||
| # the following magic strings to be generated by the compile job. | |||||
| begin: | |||||
| @echo | |||||
| @echo $(MSG_BEGIN) | |||||
| finished: | |||||
| @echo $(MSG_ERRORS_NONE) | |||||
| end: | |||||
| @echo $(MSG_END) | |||||
| @echo | |||||
| # Display size of file. | |||||
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex | |||||
| ELFSIZE = $(SIZE) -A $(TARGET).elf | |||||
| sizebefore: | |||||
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi | |||||
| sizeafter: | |||||
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi | |||||
| info: | |||||
| @echo | |||||
| @echo $(MSG_INFO) | |||||
| @echo MCU: $(MCU) | |||||
| @echo F_CPU: $(F_CPU) | |||||
| # Display compiler version information. | |||||
| gccversion : | |||||
| @$(CC) --version | |||||
| # Program the device. | |||||
| program: $(TARGET).hex $(TARGET).eep | |||||
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) | |||||
| flashfuses : | |||||
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FUSES) | |||||
| readfuses : | |||||
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_READ_FUSES) | |||||
| # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. | |||||
| COFFCONVERT=$(OBJCOPY) --debugging \ | |||||
| --change-section-address .data-0x800000 \ | |||||
| --change-section-address .bss-0x800000 \ | |||||
| --change-section-address .noinit-0x800000 \ | |||||
| --change-section-address .eeprom-0x810000 | |||||
| coff: $(TARGET).elf | |||||
| @echo | |||||
| @echo $(MSG_COFF) $(TARGET).cof | |||||
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof | |||||
| extcoff: $(TARGET).elf | |||||
| @echo | |||||
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof | |||||
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof | |||||
| # Create final output files (.hex, .eep) from ELF output file. | |||||
| %.hex: %.elf | |||||
| @echo | |||||
| @echo $(MSG_FLASH) $@ | |||||
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ | |||||
| %.eep: %.elf | |||||
| @echo | |||||
| @echo $(MSG_EEPROM) $@ | |||||
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ | |||||
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ | |||||
| # Create extended listing file from ELF output file. | |||||
| %.lss: %.elf | |||||
| @echo | |||||
| @echo $(MSG_EXTENDED_LISTING) $@ | |||||
| $(OBJDUMP) -h -S $< > $@ | |||||
| # Create a symbol table from ELF output file. | |||||
| %.sym: %.elf | |||||
| @echo | |||||
| @echo $(MSG_SYMBOL_TABLE) $@ | |||||
| $(NM) -n $< > $@ | |||||
| # Link: create ELF output file from object files. | |||||
| .SECONDARY : $(TARGET).elf | |||||
| .PRECIOUS : $(OBJ) | |||||
| %.elf: $(OBJ) | |||||
| @echo | |||||
| @echo $(MSG_LINKING) $@ | |||||
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) | |||||
| # Compile: create object files from C source files. | |||||
| %.o : %.c | |||||
| @echo | |||||
| @echo $(MSG_COMPILING) $< | |||||
| $(CC) -c $(ALL_CFLAGS) $< -o $@ | |||||
| # Compile: create assembler files from C source files. | |||||
| %.s : %.c | |||||
| $(CC) -S $(ALL_CFLAGS) $< -o $@ | |||||
| # Assemble: create object files from assembler source files. | |||||
| %.o : %.S | |||||
| @echo | |||||
| @echo $(MSG_ASSEMBLING) $< | |||||
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ | |||||
| # Target: clean project. | |||||
| clean: begin clean_list finished end | |||||
| clean_list : | |||||
| @echo | |||||
| @echo $(MSG_CLEANING) | |||||
| $(REMOVE) $(TARGET).hex | |||||
| $(REMOVE) $(TARGET).eep | |||||
| $(REMOVE) $(TARGET).obj | |||||
| $(REMOVE) $(TARGET).cof | |||||
| $(REMOVE) $(TARGET).elf | |||||
| $(REMOVE) $(TARGET).map | |||||
| $(REMOVE) $(TARGET).obj | |||||
| $(REMOVE) $(TARGET).a90 | |||||
| $(REMOVE) $(TARGET).sym | |||||
| $(REMOVE) $(TARGET).lnk | |||||
| $(REMOVE) $(TARGET).lss | |||||
| $(REMOVE) $(OBJ) | |||||
| $(REMOVE) $(LST) | |||||
| $(REMOVE) $(SRC:.c=.s) | |||||
| $(REMOVE) $(SRC:.c=.d) | |||||
| $(REMOVE) .dep/* | |||||
| # Include the dependency files. | |||||
| -include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) | |||||
| # Listing of phony targets. | |||||
| .PHONY : all begin finish end sizebefore sizeafter gccversion \ | |||||
| build elf hex eep lss sym coff extcoff \ | |||||
| clean clean_list program | |||||