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uart_test.c
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#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <stdio.h>
#include <stdlib.h>
#define BAUD 115200
#include <util/setbaud.h>
#define DEBUG 1
void uart_init(void) {
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= _BV(U2X0);
#else
UCSR0A &= ~(_BV(U2X0));
#endif
UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); /* 8-bit data */
UCSR0B = _BV(RXEN0) | _BV(TXEN0); /* Enable RX and TX */
}
void uart_putchar(char c) {
loop_until_bit_is_set(UCSR0A, UDRE0); /* Wait until data register empty. */
UDR0 = c;
}
char uart_getchar(void) {
loop_until_bit_is_set(UCSR0A, RXC0); /* Wait until data exists. */
return UDR0;
}
FILE uart_output = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
FILE uart_input = FDEV_SETUP_STREAM(NULL, uart_getchar, _FDEV_SETUP_READ);
FILE uart_io = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW);
void InitADC()
{
ADMUX |= (1<<REFS0); // Select Vref=AVcc
ADCSRA |= (1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADEN); //set prescaller to 128 and enable ADC
}
uint16_t ReadADC(uint8_t ADCport)
{
ADMUX = (ADMUX & 0xF0) | (ADCport & 0x0F); //select ADC port with safety mask
ADCSRA |= (1<<ADSC); //single conversion mode
while( ADCSRA & (1<<ADSC) ); // wait until ADC conversion is complete
return ADC;
}
void moveForward(int dutycyclel, int dutycycler)
{
DDRD |= (1 << DDD3); // PD3
DDRB |= (1 << DDB2); // PB2
DDRD |= (1 << DDD5); // PD5
DDRD |= (1 << DDD6); // PD6
// Timer0 Registers (for PD5,PD6)
OCR0A = 0; // Set PWM Duty Cycle for PD6 (max 255)
OCR0B = dutycycler; // Set PWM Duty Cycle for PD5 (max 255)
TCCR0A |= (1 << COM0A1); // set none-inverting mode
TCCR0A |= (1 << COM0B1); // set none-inverting mode
TCCR0A |= (1 << WGM01) | (1 << WGM00); // set fast PWM Mode with OCRnx as top value
TCCR0B |= (1 << CS01); // set prescaler to 8 and starts PWM
// Timer2 Registers (for PD3)
//OCR2B = floor(dutycycle*65/80); // Set PWM Duty Cycle(max 255)
OCR2B = dutycyclel; // Set PWM Duty Cycle(max 255)
TCCR2A |= (1 << COM2B1); // set none-inverting mode
TCCR2A |= (1 << WGM21) | (1 << WGM20); // set fast PWM Mode with OCRnx as top value
TCCR2B |= (1 << CS21); // set prescaler to 8 and starts PWM
// Timer1 Registers (for PB2)
ICR1 = 0x00FF; // set TOP of the counter
OCR1B = 0; // Set PWM Duty Cycle
TCCR1A |= (1 << COM1B1); // set none-inverting mode
TCCR1A |= (1 << WGM11); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << WGM12)|(1 << WGM13); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << CS11); // set prescaler to 8 and starts PWM
}
void moveBackward(int dutycyclel, int dutycycler)
{
DDRD |= (1 << DDD3); // PD3
DDRB |= (1 << DDB2); // PB2
DDRD |= (1 << DDD5); // PD5
DDRD |= (1 << DDD6); // PD6
// Timer0 Registers (for PD5,PD6)
OCR0A = dutycycler; // Set PWM Duty Cycle for PD6 (max 255)
OCR0B = 0; // Set PWM Duty Cycle for PD5 (max 255)
TCCR0A |= (1 << COM0A1); // set none-inverting mode
TCCR0A |= (1 << COM0B1); // set none-inverting mode
TCCR0A |= (1 << WGM01) | (1 << WGM00); // set fast PWM Mode with OCRnx as top value
TCCR0B |= (1 << CS01); // set prescaler to 8 and starts PWM
// Timer2 Registers (for PD3)
OCR2B = 0; // Set PWM Duty Cycle(max 255)
TCCR2A |= (1 << COM2B1); // set none-inverting mode
TCCR2A |= (1 << WGM21) | (1 << WGM20); // set fast PWM Mode with OCRnx as top value
TCCR2B |= (1 << CS21); // set prescaler to 8 and starts PWM
// Timer1 Registers (for PB2)
ICR1 = 0x00FF; // set TOP of the counter
OCR1B = dutycyclel; // Set PWM Duty Cycle
//OCR1B = floor(dutycycle*65/80); // Set PWM Duty Cycle
TCCR1A |= (1 << COM1B1); // set none-inverting mode
TCCR1A |= (1 << WGM11); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << WGM12)|(1 << WGM13); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << CS11); // set prescaler to 8 and starts PWM
}
void moveLeft(int dutycyclel, int dutycycler)
{
DDRD |= (1 << DDD3); // PD3
DDRB |= (1 << DDB2); // PB2
DDRD |= (1 << DDD5); // PD5
DDRD |= (1 << DDD6); // PD6
// Timer0 Registers (for PD5,PD6)
OCR0A = 0; // Set PWM Duty Cycle for PD6 (max 255)
OCR0B = dutycycler; // Set PWM Duty Cycle for PD5 (max 255)
TCCR0A |= (1 << COM0A1); // set none-inverting mode
TCCR0A |= (1 << COM0B1); // set none-inverting mode
TCCR0A |= (1 << WGM01) | (1 << WGM00); // set fast PWM Mode with OCRnx as top value
TCCR0B |= (1 << CS01); // set prescaler to 8 and starts PWM
// Timer2 Registers (for PD3)
OCR2B = 0; // Set PWM Duty Cycle(max 255)
TCCR2A |= (1 << COM2B1); // set none-inverting mode
TCCR2A |= (1 << WGM21) | (1 << WGM20); // set fast PWM Mode with OCRnx as top value
TCCR2B |= (1 << CS21); // set prescaler to 8 and starts PWM
// Timer1 Registers (for PB2)
ICR1 = 0x00FF; // set TOP of the counter
OCR1B = dutycyclel; // Set PWM Duty Cycle
TCCR1A |= (1 << COM1B1); // set none-inverting mode
TCCR1A |= (1 << WGM11); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << WGM12)|(1 << WGM13); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << CS11); // set prescaler to 8 and starts PWM
}
void moveRight(int dutycyclel,int dutycycler)
{
DDRD |= (1 << DDD3); // PD3
DDRB |= (1 << DDB2); // PB2
DDRD |= (1 << DDD5); // PD5
DDRD |= (1 << DDD6); // PD6
// Timer0 Registers (for PD5,PD6)
OCR0A = dutycycler; // Set PWM Duty Cycle for PD6 (max 255)
OCR0B = 0; // Set PWM Duty Cycle for PD5 (max 255)
TCCR0A |= (1 << COM0A1); // set none-inverting mode
TCCR0A |= (1 << COM0B1); // set none-inverting mode
TCCR0A |= (1 << WGM01) | (1 << WGM00); // set fast PWM Mode with OCRnx as top value
TCCR0B |= (1 << CS01); // set prescaler to 8 and starts PWM
// Timer2 Registers (for PD3)
OCR2B = dutycyclel; // Set PWM Duty Cycle(max 255)
TCCR2A |= (1 << COM2B1); // set none-inverting mode
TCCR2A |= (1 << WGM21) | (1 << WGM20); // set fast PWM Mode with OCRnx as top value
TCCR2B |= (1 << CS21); // set prescaler to 8 and starts PWM
// Timer1 Registers (for PB2)
ICR1 = 0x00FF; // set TOP of the counter
OCR1B = 0; // Set PWM Duty Cycle
TCCR1A |= (1 << COM1B1); // set none-inverting mode
TCCR1A |= (1 << WGM11); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << WGM12)|(1 << WGM13); // set fast PWM Mode with OCRnx as top value
TCCR1B |= (1 << CS11); // set prescaler to 8 and starts PWM
}
void moveStop()
{
DDRD &= ~(1 << DDD3); // PD3
DDRB &= ~(1 << DDB2); // PB2
DDRD &= ~(1 << DDD5); // PD5
DDRD &= ~(1 << DDD6); // PD6
}
void auto_mode()
{
while(1) {
//printf("Auto Mode: Enter 's' to stop and 'm' for manual mode\r\n");
char mode = getchar();
//if( bit_is_set(UCSR0A, RXC0) != 0) {
// char mode = UDR0;
if(mode == 's') {
moveStop();
printf("Robot Stops\r\n");
}
if(mode == 'm') {
printf("Manual mode enabled\r\n");
manual_mode();
}
// }else{
// _delay_ms(50);
// int adc_val0=ReadADC(0);
// _delay_ms(50);
// int adc_val1=ReadADC(1);
// _delay_ms(50);
// int adc_val2=ReadADC(2);
// printf("Auto Mode - Sensor Readings : ClifL = %d, ClifR = %d, Bump = %d\r\n",adc_val0,adc_val1,adc_val2);
//
// if( (adc_val0 < 100) ) {
// //if( (adc_val0 < 100) | (adc_val1 < 100) | (adc_val2 < 100) ) {
// moveStop();
// printf("Robot stops\r\n");
// _delay_ms(0500);
//
// moveBackward(160,160);
// printf("Robot moves backward\r\n");
// _delay_ms(1000);
//
// moveStop();
// printf("Robot stops\r\n");
// _delay_ms(0500);
//
// moveRight(160,160);
// printf("Robot moves Right\r\n");
// _delay_ms(0500);
//
// moveStop();
// printf("Robot stops\r\n");
// _delay_ms(0500);
// }else{
// moveForward(160,160);
// printf("Robot moves forward\r\n");
// }
// }
}
}
void manual_mode()
{
int discardSensors = 1;
while(1) {
_delay_ms(1);
//printf("\r\nPlease enter the input in the format : <dir> <l1><l0> <r1><r0>\r\n");
//char dir = getchar();
if( bit_is_set(UCSR0A, RXC0) != 0) {
char dir = UDR0;
printf("UDR0 = %c\r\n",dir);
if(dir == 'a') {
printf("Auto mode enabled\r\n");
auto_mode();
}
while( (dir !='d') & (dir !='h') & (dir !='f') & (dir !='b') & (dir !='l') & (dir !='r') & (dir !='s') ) {
printf("Enter valid direction character(f,b,l,r,s,d,h)");
char dir = getchar();
}
if(dir=='d') {
discardSensors = 1; // Discard Sensor Values
}
if(dir=='h') {
discardSensors = 0; // Hold Sensor Values
}
if(dir=='f') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveForward(speedl,speedr);
printf("Robot moves forward\r\n");
}
if(dir=='b') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveBackward(speedl,speedr);
printf("Robot moves backward\r\n");
}
if(dir=='r') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveRight(speedl,speedr);
printf("Robot moves right\r\n");
}
if(dir=='l') {
int speedl1 = getchar();
int speedl0 = getchar();
int speedr1 = getchar();
int speedr0 = getchar();
printf("You entered input as : %c %c%c %c%c\r\n", dir, speedl1,speedl0,speedr1,speedr0);
int speedl = ((speedl1-48)*10 + (speedl0-48))*255/99;
int speedr = ((speedr1-48)*10 + (speedr0-48))*255/99;
moveLeft(speedl,speedr);
printf("Robot moves left\r\n");
}
if(dir=='s') {
printf("You entered input as : %c\r\n", dir);
moveStop();
printf("Robot stops\r\n");
}
}
else if( discardSensors!=1 ) {
_delay_ms(50);
int adc_val0=ReadADC(0);
_delay_ms(50);
int adc_val1=ReadADC(1);
_delay_ms(50);
int adc_val2=ReadADC(2);
printf("Sensor Readings : ClifL = %d, ClifR = %d, Bump = %d\r\n",adc_val0,adc_val1,adc_val2);
if( (adc_val0 < 100) ) {
//if( (adc_val0 < 100) | (adc_val1 < 100) | (adc_val2 < 100) ) {
moveStop();
printf("Robot stops\r\n");
_delay_ms(0500);
moveBackward(160,160);
printf("Robot moves backward\r\n");
_delay_ms(1000);
moveStop();
printf("Robot stops\r\n");
_delay_ms(0500);
moveRight(160,160);
printf("Robot moves Right\r\n");
_delay_ms(0500);
moveStop();
printf("Robot stops\r\n");
_delay_ms(0500);
}
}
}
}
int main(void)
{
/* Setup serial port */
uart_init();
stdout = &uart_output;
stdin = &uart_input;
printf("Hello world!\r\n");
InitADC();
moveStop();
// Setup ports
DDRB |= (1<<1) | (1<<0);
PORTB |= (1<<0);
PORTB &= ~(1<<1);
/* Print hello and then echo serial
** port data while blinking LED */
//printf("Hello world!\r\n");
//PORTB ^= 0x01;
while(1) {
manual_mode();
}
}