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de:projects:finger_counter [2010/08/17 02:42] – angelegt Wemberde:projects:finger_counter [2020/07/20 12:00] (current) – external edit 127.0.0.1
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 +====== Projekt - Fingerzähler ======
 +
 +  * {{examples:projects:finger_counter:finger_counter.zip|AVRStudio full project}}
 +
 +===== main.c =====
 +
 +Das Projekt nutzt den IR-Sensor und Servomoter um einen Sektor zu scannen.
 +Das Ergebnis soll die Anzahl der ausgestreckten Finger sein, die man in den Scanningsektor hält.
 +
 +
 +
 +<code c>
 +#include <avr/io.h>
 +#include <util/delay.h>
 +#include <stdlib.h>
 +#include "adc.h"
 +#include "motors.h"
 +#include "lcd.h"
 +#include "segment_display.h"
 +#include "pinops.h"
 +#include "configuration.h"
 +
 +// Math operations
 +#define DIFF(a, b) ((a) < (b) ? (b) - (a) : (a) - (b))
 +#define INTEGRATE(value, new_value, n)    value = (value * (n - 1) + new_value) / n;
 +
 +//
 +// Main entrance
 +//
 +int main(void)
 +{
 + unsigned short distance, compare_distance = 0;
 + unsigned char matches = 0, num_fingers = 0;
 + signed short servo_pos = -100, scan_dir = 1;
 + char text[10];
 +
 + // Initialize
 + adc_init();
 + dcmotors_init();
 + segment_display_init();
 + servomotors_init();
 + setup_output_pin(LED_RED);
 +
 + lcd_init(LCD_DISP_ON);
 + lcd_clrscr();
 + lcd_puts("Finger counter");
 +
 + // Endless loop
 + while (1)
 + {
 + // Scan
 + servomotors_position(1, servo_pos);
 + servo_pos += scan_dir;
 +
 + // Servo on edge ?
 + if ((servo_pos < -100) || (servo_pos > 100))
 + {
 + scan_dir = (servo_pos > 0 ? -1 : 1);
 +
 + // Output results
 + segment_display_write(num_fingers);
 + itoa(num_fingers, text, 10);
 + lcd_gotoxy(0, 1);
 + lcd_puts(text);
 + lcd_puts("  ");
 +
 + // Reset fingers count
 + num_fingers = 0;
 + }
 +
 + // Measure distance
 + distance = adc_sample_value(0, 4);
 +
 + // Check for drastic changes
 + // Look for decreasing distance (increasing sensor output voltage)
 + if (distance > compare_distance + 100)     
 + {
 + // Light on finger
 + clear_pin(LED_RED); // inverted!
 +
 + // Changes has to last for some time
 + if (matches++ == 5)
 + {
 + // Count fingers
 + num_fingers++;
 + }
 + }
 + else
 + {
 + // Reset matches and turn off the LED
 + set_pin(LED_RED); // inverted!
 + matches = 0;
 + }
 +
 + // Calculate compare distance (integrated distance) 
 + INTEGRATE(compare_distance, distance, 20);
 +
 + // Pause
 + _delay_ms(10);
 + }
 +}
 +</code>
 +
 +===== configuration.h =====
 +
 +<code c>
 +// Hardware pin configurations
 +
 +#define BUTTON_1      PORTPIN(C, 2)
 +#define BUTTON_2      PORTPIN(C, 1)
 +#define BUTTON_3      PORTPIN(C, 0)
 +
 +#define LED_RED       PORTPIN(C, 5)
 +#define LED_YELLOW    PORTPIN(C, 4)
 +#define LED_GREEN     PORTPIN(C, 3)
 +
 +#define DCMOTOR_1A    PORTPIN(B, 7)
 +#define DCMOTOR_1B    PORTPIN(B, 4)
 +#define DCMOTOR_2A    PORTPIN(D, 1)
 +#define DCMOTOR_2B    PORTPIN(D, 0)
 +#define DCMOTOR_3A    PORTPIN(D, 7)
 +#define DCMOTOR_3B    PORTPIN(D, 6)
 +#define DCMOTOR_4A    PORTPIN(D, 5)
 +#define DCMOTOR_4B    PORTPIN(D, 4)
 +
 +#define SERVOMOTOR_1  PORTPIN(B, 5)
 +#define SERVOMOTOR_2  PORTPIN(B, 6)
 +
 +#define SEGMENT_DISPLAY_LATCH      PORTPIN(G, 2)
 +#define SEGMENT_DISPLAY_DATA_OUT   PORTPIN(C, 6)
 +#define SEGMENT_DISPLAY_CLOCK      PORTPIN(C, 7)
 +</code>
 +
 +===== adc.c =====
 +
 +<code c>
 +#include <avr/io.h>
 +#include "pinops.h"
 +
 +//
 +// ADC initialization
 +//
 +void adc_init(void)
 +{
 + // ADC setup
 + // Prescaler 8
 + ADCSRA = BIT(ADEN) | BIT(ADPS1) | BIT(ADPS0);
 +
 + // Reference voltage to external (+5V)
 + ADMUX = BIT(REFS0);
 +}
 +
 +//
 +// ADC conversion waiting
 +//
 +void adc_wait_until_done(void)
 +{
 + while (IS_BIT_SET(ADCSRA, ADSC))
 + {
 + asm volatile ("nop");
 +  }
 +}
 +
 +//
 +// ADC channel value sampling
 +//
 +unsigned short adc_sample_value(unsigned char channel, unsigned char num_samples)
 +{
 + unsigned short result = 0;
 +
 + // Specify channel
 + ADMUX &= 0xF0;
 + ADMUX |= channel & 0x0F;
 +
 + // Take test sample to "warm up" converter
 + // Usually the first sample is discarded
 + SET_BIT(ADCSRA, ADSC);
 + adc_wait_until_done();
 +
 + // Real sampling, sum up specifed number of samples
 + for (unsigned char i = 0; i < num_samples;i++)
 + {
 + SET_BIT(ADCSRA, ADSC);
 + adc_wait_until_done();
 +
 + // Sum-up
 + result += ADCW;
 + }
 +
 + // Return averaged result
 + return (result / num_samples);
 +}
 +</code>
 +
 +===== adc.h =====
 +
 +<code c>
 +// ADC function headers
 +void adc_init(void);
 +unsigned short adc_sample_value(unsigned char channel, unsigned char num_samples);
 +</code>
 +
 +===== motors.c =====
 +
 +<code c>
 +#include <avr/io.h>
 +#include "pinops.h"
 +#include "configuration.h"
 +
 +// PWM full period
 +// 14.745600 Mhz / 8 / 50 Hz = 36864
 +#define PWM_PERIOD      (F_CPU / 8 / 50)
 +
 +// PWM servo middle position
 +// 36864 / 20 ms * 1.5 ms = 2764
 +#define PWM_MIDDLE_POS  (PWM_PERIOD * 15 / 200)
 +
 +// PWM ratio to get position from -100 to 100
 +// 36864 / 20 ms / 2 / 100
 +// We add +1 to get a full range and a little bit more
 +#define PWM_RATIO       (PWM_PERIOD / 20 / 2 / 100 + 1)
 +
 +//
 +// Initialize motors
 +//
 +void dcmotors_init(void)
 +{
 + setup_output_pin(DCMOTOR_1A);
 + setup_output_pin(DCMOTOR_1B);
 + setup_output_pin(DCMOTOR_2A);
 + setup_output_pin(DCMOTOR_2B);
 + setup_output_pin(DCMOTOR_3A);
 + setup_output_pin(DCMOTOR_3B);
 + setup_output_pin(DCMOTOR_4A);
 + setup_output_pin(DCMOTOR_4B);
 +}
 +
 +//
 +// Drive command for specified motor
 +//
 +void dcmotors_drive(unsigned char nr, signed char dir)
 +{
 + switch (nr)
 + {
 + case 1:
 + set_pin_to(DCMOTOR_1A, dir < 0);
 + set_pin_to(DCMOTOR_1B, dir > 0);
 + break;
 +
 + case 2:
 + set_pin_to(DCMOTOR_2A, dir < 0);
 + set_pin_to(DCMOTOR_2B, dir > 0);
 + break;
 +
 + case 3:
 + set_pin_to(DCMOTOR_3A, dir < 0);
 + set_pin_to(DCMOTOR_3B, dir > 0);
 + break;
 +
 + case 4:
 + set_pin_to(DCMOTOR_4A, dir < 0);
 + set_pin_to(DCMOTOR_4B, dir > 0);
 + break;
 + }
 +}
 +
 +//
 +// Intialize servo motors
 +//
 +void servomotors_init(void)
 +{
 + setup_output_pin(SERVOMOTOR_1);
 +
 + setup_output_pin(SERVOMOTOR_2);
 +
 + // Set timer control registers
 + // Clear OUTA and OUTB on compare match
 + // Fast PWM mode with ICR = TOP
 + // Prescaler 8
 + TCCR1A = BIT(COM1A1) | BIT(COM1B1) | BIT(WGM11);
 + TCCR1B = BIT(CS11) | BIT(WGM13) | BIT(WGM12); 
 +
 + // TOP period
 + ICR1 = PWM_PERIOD;
 +}
 +
 +//
 +// Position servo motors
 +// pos is from -100 to 100
 +//
 +void servomotors_position(unsigned char nr, signed short pos)
 +{
 + // 
 + switch (nr)
 + {
 + case 1: OCR1A = PWM_MIDDLE_POS + pos * PWM_RATIO; break;
 + case 2: OCR1B = PWM_MIDDLE_POS + pos * PWM_RATIO; break;
 + }
 +}
 +</code>
 +
 +===== motors.h =====
 +
 +<code c>
 +// Motor function headers
 +void dcmotors_init(void);
 +void dcmotors_drive(unsigned char nr, signed char dir);
 +void servomotors_init(void);
 +void servomotors_position(unsigned char nr, signed short pos);
 +</code>
 +
 +===== segment_display.c =====
 +
 +<code c>
 +#include <avr/io.h>
 +#include <util/delay.h>
 +#include "pinops.h"
 +#include "configuration.h"
 +
 +//
 +// 7 segment display initialization
 +//
 +void segment_display_init(void)
 +{
 + // Set latch, data out and clock pins as output
 + setup_output_pin(SEGMENT_DISPLAY_LATCH);
 + setup_output_pin(SEGMENT_DISPLAY_DATA_OUT);
 + setup_output_pin(SEGMENT_DISPLAY_CLOCK);
 +}
 + 
 +//
 +// Digit writing to 7 segment display
 +//
 +void segment_display_write(unsigned char digit)
 +{
 + unsigned char map;
 + 
 + // Decimal to segment map
 + switch (digit)
 + {
 + case 0 : map = 0b00111111; break; // Every bit corresponds to one segment
 + case 1 : map = 0b00000110; break; // "1"
 + case 2 : map = 0b01011011; break; // "2"
 + case 3 : map = 0b01001111; break; // "3" and so on
 + case 4 : map = 0b01100110; break; 
 + case 5 : map = 0b01101101; break; 
 + case 6 : map = 0b01111100; break; 
 + case 7 : map = 0b00000111; break;
 + case 8 : map = 0b01111111; break; 
 + case 9 : map = 0b01100111; break;  
 + default: map = 0b01111001;        // E like Error
 + }
 + 
 + // Latch low
 + clear_pin(SEGMENT_DISPLAY_LATCH);
 + 
 + // Send every bit in the byte. MSB (most significant bit) first.
 + for (signed char i = 7; i >= 0; i--)
 + {
 + // If bit is set, sets the data out pin, otherwise not
 + set_pin_to(SEGMENT_DISPLAY_DATA_OUT, IS_BIT_SET(map, i));
 + 
 + // Clock high for certain period
 + set_pin(SEGMENT_DISPLAY_CLOCK)
 + _delay_us(1);
 + 
 + // Clock low for certain period
 + clear_pin(SEGMENT_DISPLAY_CLOCK)
 + _delay_us(1);
 + }
 + 
 + // Latch high
 + set_pin(SEGMENT_DISPLAY_LATCH);
 +}
 +</code>
 +
 +===== segment_display.h =====
 +
 +<code c>
 +// 7 segment display function headers
 +void segment_display_init(void);
 +void segment_display_write(unsigned char digit);
 +</code>
  
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