Changeset 743 for trunk/electronics

Timestamp:

06/05/10 10:30:44 (20 months ago)

Author:

kleinjt

Message:

added new remote code (new motor controllers expect heartbeats every 100ms)

Location:

trunk/electronics/avr

Files:

• 2008-mcc/pid.m4 (modified) (2 diffs)
• kill_remote (added)
• kill_remote/kill_remote.c (added)
• killswitch/killremote.c (modified) (6 diffs)
• killswitch/killrobot.hex (modified) (1 diff)
• killswitch/mkfile (modified) (1 diff)
• mkhdr (modified) (1 diff)

trunk/electronics/avr/2008-mcc/pid.m4

@@ -197 +197 @@
         ticks = enc_count;
         enc_count = 0;
-
+   /*
         PID.error = set_point - ticks;
 
@@ -231 +231 @@
 
         pwm_set(rv);
-
+   */
         if (PIN_LEVEL(DISI)) {
                 PIN_SET(DIS);

trunk/electronics/avr/killswitch/killremote.c

@@ -42 +42 @@
 static void io_init()
 {
-        DDRB = 0x0F;
+        DDRB = 0b00001111;
         DDRC = 0b00011000;
         DDRD = 0b11111110;
 }
-
+/*
 static void adc_init()
 {
@@ -54 +54 @@
         ADCSRA |= (1 << ADIE); // enable interrupts
 }
-
+*/
 
 int main()
@@ -60 +60 @@
         io_init();
         timer_init();
-        adc_init();
+        //adc_init();
         serial_init(9600);
         sei();
@@ -66 +66 @@
         while (1) {
                 usart_put('g'); 
-                _delay_ms(30);
+                _delay_ms(50);
                 
                 if(UCSR0A & (1<<7)) {
@@ -74 +74 @@
                 
                 if(!counter) cbi(PORTC, 4);
-                else cbi(PORTC, 4);
+                else sbi(PORTC, 4);
                 
-                ADCSRA |= (1 << ADSC) | (1 << ADIE);
+                //ADCSRA |= (1 << ADSC) | (1 << ADIE);
         }
-
 
         return 0;
@@ -88 +87 @@
 }
 
-ISR(ADC_vect)
+/*ISR(ADC_vect)
 {
         if(ADCH < 157) sbi(PORTC, 5); // low battery at 2.7V, minimum voltage for AVR and xbee
         else cbi(PORTC, 5);     
-}
+}*/
 
 

trunk/electronics/avr/killswitch/killrobot.hex

@@ -2 +2 @@
 :100010000C9451000C9451000C9451000C9451001C
 :100020000C9451000C9451000C9451000C9451000C
-:100030000C9451000C9451000C9498000C945100B5
+:100030000C9451000C9451000C9499000C945100B4
 :100040000C9451000C9451000C9451000C945100EC
 :100050000C9451000C9451000C9451000C945100DC
 :100060000C9451000C94510011241FBECFEFD4E02A
-:10007000DEBFCDBF11E0A0E0B1E0ECE6F1E002C0F0
+:10007000DEBFCDBF11E0A0E0B1E0E0E7F1E002C0FB
 :1000800005900D92A030B107D9F711E0A0E0B1E0E2
 :1000900001C01D92A230B107E1F70E9453000C94F9
-:1000A000B5000C9400008FE084B925E027B98AEFF1
+:1000A000B6000C9400008FE084B995E097B98AEF10
 :1000B0008AB915B884E08BB91092C50083E38093A8
-:1000C000C40088E18093C1008EE08093C20092E07A
-:1000D00094BD25BD81E187BD90936E00789499B160
-:1000E0008091C00087FD02C086E606C08091C000F6
-:1000F00087FFFCCF8091C60092FD18C0873681F43F
-:100100008FE088B986E490E090930101809300012C
-:100110008091C00085FFFCCF83E68093C600DFCFCF
-:100120008091000190910101892BC9F618B8D7CFB1
-:100130001F920F920FB60F9211248F939F9380916D
-:10014000000190910101892B49F08091000190916B
-:100150000101019790930101809300019F918F917C
-:0C0160000F900FBE0F901F901895FFCF5E
+:1000C000C40088E18093C1008EE08093C20082E08A
+:1000D00084BD95BD91E197BD80936E0078944FE00B
+:1000E00026E430E093E659B18091C00087FD02C05C
+:1000F00086E606C08091C00087FFFCCF8091C600D5
+:100100005470A9F4873661F448B930930101209303
+:1001100000018091C00085FFFCCF9093C600E3CF23
+:10012000609100017091010161157105E1F618B847
+:10013000DACF1F920F920FB60F9211248F939F93D5
+:100140008091000190910101009749F08091000198
+:1001500090910101019790930101809300019F917B
+:100160008F910F900FBE0F901F901895F894FFCFAE
 :00000001FF

trunk/electronics/avr/killswitch/mkfile

@@ -3 +3 @@
 <$RHRTELEC/avr/mkhdr
 
-TARG=killrobot
-OFILES=killrobot.o
+TARG=killremote
+OFILES=killremote.o
 
 <$RHRTELEC/avr/mkcommon

trunk/electronics/avr/mkhdr

@@ -8 +8 @@
 
 MCU=atmega168
-MCU_SPEED=8000000ULL
+MCU_SPEED=16000000ULL
 #PROG_TYPE=stk500v1
 PROG_TYPE=avrisp2