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mate-driver
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Some cleanup

This commit is contained in:
Sebastian 2020-07-16 21:55:41 +02:00
parent 7fc1e4c3ec
commit 18aef38fb8
3 changed files with 83 additions and 67 deletions
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2
firmware/Makefile
View File

@ -3,7 +3,7 @@ F_CPU = 8000000
VERSION = 0.1
HEADERS =
HEADERS = pwm.h
SRC = main.c
TARGET = mate-driver-$(AVRMCU)
OBJDIR = bin

69
firmware/main.c
View File

@ -1,70 +1,7 @@
#include <avr/io.h>
#include <util/delay.h>
static inline void hbridge_init() {
DDRB |= (1 << PB2); // PWM
DDRB |= (1 << PB0) | (1 << PB1); // H1 L1
DDRB |= (1 << PB3) | (1 << PB4); // H2 L2
}
static inline void hbridge_set_h1() {
PORTB |= (1 << PB0);
}
static inline void hbridge_unset_h1() {
PORTB &= ~(1 << PB0);
}
static inline void hbridge_set_l1() {
PORTB |= (1 << PB1);
}
static inline void hbridge_unset_l1() {
PORTB &= ~(1 << PB1);
}
static inline void hbridge_set_h2() {
PORTB |= (1 << PB3);
}
static inline void hbridge_unset_h2() {
PORTB &= ~(1 << PB3);
}
static inline void hbridge_set_l2() {
PORTB |= (1 << PB4);
}
static inline void hbridge_unset_l2() {
PORTB &= ~(1 << PB4);
}
static inline void pwm_cycle_backwards(uint8_t speed) {
hbridge_unset_l2();
hbridge_set_l1();
for(uint8_t i = 0; i < 8; i++) {
if((speed & (1 << i)) != 0) {
hbridge_set_h2();
}
for(uint8_t j = 0; j < (1 << i); j++) {
_delay_us(2);
}
hbridge_unset_h2();
}
}
static inline void pwm_cycle_forwards(uint8_t speed) {
hbridge_unset_l1();
hbridge_set_l2();
for(uint8_t i = 0; i < 8; i++) {
if((speed & (1 << i)) != 0) {
hbridge_set_h1();
}
for(uint8_t j = 0; j < (1 << i); j++) {
_delay_us(2);
}
hbridge_unset_h1();
}
}
#include "pwm.h"
int main(void) {
@ -77,7 +14,7 @@ int main(void) {
while(1) {
//hbridge_set_l1();
for(uint8_t speed = 20; speed <= 230; speed++) {
for(uint8_t speed = 0; speed <= 250; speed++) {
for(uint16_t i = 0; i < 250; i++) {
pwm_cycle_forwards(speed);
}
@ -91,7 +28,7 @@ int main(void) {
hbridge_unset_l2();
hbridge_unset_l2();
for(uint8_t speed = 20; speed <= 230; speed++) {
for(uint8_t speed = 0; speed <= 250; speed++) {
for(uint16_t i = 0; i < 250; i++) {
pwm_cycle_backwards(speed);
}

79
firmware/pwm.h Normal file
View File

@ -0,0 +1,79 @@
#ifndef _PWM_H
#define _PWM_H
#include <avr/io.h>
#include <util/delay.h>
static inline void hbridge_init(void) {
DDRB |= (1 << PB2); // PWM
DDRB |= (1 << PB0) | (1 << PB1); // H1 L1
DDRB |= (1 << PB3) | (1 << PB4); // H2 L2
DDRD |= (1 << PD1);
}
static inline void hbridge_set_h1(void) {
PORTB |= (1 << PB0);
}
static inline void hbridge_unset_h1(void) {
PORTB &= ~(1 << PB0);
}
static inline void hbridge_set_l1(void) {
PORTB |= (1 << PB1);
}
static inline void hbridge_unset_l1(void) {
PORTB &= ~(1 << PB1);
}
static inline void hbridge_set_h2(void) {
PORTB |= (1 << PB3);
}
static inline void hbridge_unset_h2(void) {
PORTB &= ~(1 << PB3);
}
static inline void hbridge_set_l2(void) {
PORTB |= (1 << PB4);
}
static inline void hbridge_unset_l2(void) {
PORTB &= ~(1 << PB4);
}
const double delay_time = 2.0;
static inline void pwm_cycle_backwards(uint8_t speed) {
PIND |= (1 << PD1);
hbridge_unset_l2();
hbridge_set_l1();
for(uint8_t i = 0; i < 8; i++) {
if((speed & (1 << i)) != 0) {
hbridge_set_h2();
}
for(uint8_t j = 0; j < (1 << i); j++) {
_delay_us(delay_time);
}
hbridge_unset_h2();
}
}
static inline void pwm_cycle_forwards(uint8_t speed) {
PIND |= (1 << PD1);
hbridge_unset_l1();
hbridge_set_l2();
for(uint8_t i = 0; i < 8; i++) {
if((speed & (1 << i)) != 0) {
hbridge_set_h1();
}
for(uint8_t j = 0; j < (1 << i); j++) {
_delay_us(delay_time);
}
hbridge_unset_h1();
}
}
#endif