sebastian
/
mate-driver
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added emergency stop

This commit is contained in:
Sebastian 2020-07-29 19:48:58 +02:00
parent 5285de0767
commit bf0e3cee8f
4 changed files with 38 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
firmware/input.c
View File

@ -8,30 +8,38 @@ enum Edge {
uint16_t volatile last_count;
enum Edge volatile next_edge;
volatile uint8_t signal_ok;
void input_init() {
PORTD |= (1 << PD3);
MCUCR |= (1 << ISC10) | (1 << ISC11);
GIMSK |= (1 << INT1);
TIMSK |= (1 << TOIE1);
TCNT1 = 0;
TCCR1B |= (1 << CS11); //Prescaler 8, enable Timer
next_edge = RISING;
last_count = 0;
signal_ok = 0;
}
ISR(TIMER1_OVF_vect) {
signal_ok = 0;
PIND |= (1 << PD1);
}
ISR(INT1_vect) {
signal_ok = 1;
if(next_edge == RISING) {
TCNT1 = 0;
TCCR1B |= (1 << CS11); //Prescaler 8, enable Timer
MCUCR &= ~(1 << ISC10); //Trigger on falling edge next
next_edge = FALLING;
} else if(next_edge == FALLING) {
last_count = TCNT1;
TCCR1B &= ~(1 << CS11); //Prescaler 8, disable Timer
TCNT1 = 0;
MCUCR |= (1 << ISC10); //Trigger on falling edge next
next_edge = RISING;
}
@ -47,3 +55,7 @@ int16_t input_get_result() {
}
return tmp;
}
uint8_t input_signal_ok() {
return signal_ok;
}

2
firmware/input.h
View File

@ -7,6 +7,6 @@
void input_init(void);
int16_t input_get_result(void);
uint8_t input_signal_ok(void);
#endif

30
firmware/main.c
View File

@ -8,8 +8,6 @@
int main(void) {
_delay_ms(5000);
hbridge_init();
input_init();
@ -19,20 +17,26 @@ int main(void) {
DDRD |= (1 << PD1);
while(1) {
int16_t speed = input_get_result();
if(speed > 20) {
pwm_cycle_forwards(speed / 2);
} else if (speed < -20){
pwm_cycle_backwards(-speed / 2);
} else {
pwm_cycle_coast();
while(!input_signal_ok()) {
pwm_cycle_break();
}
PIND |= (1 << PD1);
while(input_get_result() < -20 || input_get_result() > 20) {
pwm_cycle_break();
}
while(input_signal_ok()) {
int16_t speed = input_get_result();
if(speed > 20) {
pwm_cycle_forwards(speed / 2);
} else if (speed < -20){
pwm_cycle_backwards(-speed / 2);
} else {
pwm_cycle_break();
}
}
}
}

3
firmware/pwm.h
View File

@ -43,6 +43,7 @@ const double delay_time = 0.25;
static inline void pwm_delay(uint16_t slices) {
for(uint16_t i = 0; i < slices; i++) {
//Anything smaller here will lead to messed up timings
_delay_us(10);
}
}
@ -104,7 +105,7 @@ static inline void pwm_cycle_forwards(uint8_t speed) {
hbridge_unset_l2();
}
static inline void pwm_cycle_coast() {
static inline void pwm_cycle_break() {
hbridge_unset_h1();
hbridge_unset_h2();
hbridge_set_l1();