Interrupt code

DriverNano_Tractor/DriverNano_Tractor.ino → Interrupt.ino

@@ -1,23 +1,24 @@
-// #include <avr/sleep.h>
 #include <avr/power.h>
 
-#define N_PORTS 1
-#define N_DIVS 24
+#define N_Transducers 24
 
 #define WAIT_LOT(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");__asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");__asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");__asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop")
+//14 clock
+
 #define WAIT_MID(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");__asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");__asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop")
-#define WAIT_LIT(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop")
+//13 clock
 
+#define WAIT_LIT(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop")
+//9 clock
 
-#define OUTPUT_WAVE(pointer, d)  PORTC = pointer[d*N_PORTS + 0]
+#define OUTPUT_WAVE(pointer, d)  PORTC = pointer[d]
 
 #define N_BUTTONS 5
-//half a second
-#define BUTTON_SENS 10000 
+#define BUTTON_SENS
 #define N_FRAMES 29
 
 static byte frame = 19;
-static byte animation[N_FRAMES][N_DIVS] = 
+static byte animation[N_FRAMES][N_Transducers] = //29x24
 {{0x6,0xc,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x3,0x3,0x3,0x3,0x6,0x6,0x6,0x6,0x6,0x6},
 {0x6,0x6,0x6,0x6,0x6,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x3,0x3,0x3,0x6,0x6,0x6},
 {0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x3,0x3},
@@ -36,8 +37,8 @@ static byte animation[N_FRAMES][N_DIVS] =
 {0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x3},
 {0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x6,0x6},
 {0xc,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc},
-{0xc,0xc,0xc,0xc,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0xc}, //19th frame
-{0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0xc,0xc,0xc,0xc,0xc}, 
+{0xc,0xc,0xc,0xc,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0xc},
+{0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0xc,0xc,0xc,0xc,0xc},
 {0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x9,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x6,0xc,0xc},
 {0x6,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x6,0x6},
 {0x6,0x6,0x6,0x6,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3},
@@ -46,36 +47,24 @@ static byte animation[N_FRAMES][N_DIVS] =
 {0x3,0x3,0x3,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3},
 {0x9,0x9,0x3,0x3,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9},
 {0x9,0x9,0x9,0x9,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9},
-{0x9,0x9,0x9,0x9,0x9,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x9,0x9,0x9,0x9,0x9,0x9}}; //29th frame
-// I think above is the phase information for each transducers.
-// But I'm not sure why there is "29" N_FRAEMS..?
+{0x9,0x9,0x9,0x9,0x9,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x9,0x9,0x9,0x9,0x9,0x9}};
+
+/*
+0x6 = 0b 0000 0110
+0x3 = 0b 0000 0011
+0x9 = 0b 0000 1001
+0xc = 0b 0000 1010
+*/
 
 void setup()
 {
 
-/*
- for (int i = 0; i < (N_PORTS*N_DIVS); ++i){
-    animation[frame][i] =  0;
-  }
-
-  for (int i = 0; i < (N_PORTS*N_DIVS/2); ++i){
-     animation[frame][i] = 0b11111111;
-  }
-
-  for(int i = 0; i < N_DIVS; ++i){
-    if (i % 2 == 0){
-      animation[frame][i * N_PORTS] |= 0b00000001;
-    }else{
-      animation[frame][i * N_PORTS] &= 0b11111110;
-    }
-  }
-*/
    DDRC = 0b00111111; //A0 to A5 are the signal outputs
-   PORTC = 0b00000000; 
+   PORTC = 0b00000000;
 
    pinMode(10, OUTPUT); //pin 10 (B2) will generate a 40kHz signal to sync 
    pinMode(11, INPUT_PULLUP); //pin 11 (B3) is the sync in
-   //please connect pin 10 to pin 11
+   //connect pin 10 to pin 11
 
    for (int i = 2; i < 8; ++i){ //pin 2 to 7 (D2 to D7) are inputs for the buttons
     pinMode(i, INPUT_PULLUP); 
@@ -85,8 +74,8 @@ void setup()
   noInterrupts();           // disable all interrupts
   TCCR1A = bit (WGM10) | bit (WGM11) | bit (COM1B1); // fast PWM, clear OC1B on compare
   TCCR1B = bit (WGM12) | bit (WGM13) | bit (CS10);   // fast PWM, no prescaler
-  OCR1A =  (F_CPU / 40000L) - 1;
-  OCR1B = (F_CPU / 40000L) / 2;
+  OCR1A =  (F_CPU / 40000L) - 1; //16MHz / 40kHz -1
+  OCR1B = (F_CPU / 40000L) / 2; //16MHz / 40kHz /2
   interrupts();             // enable all interrupts
 
   // disable everything that we do not need 
@@ -98,16 +87,16 @@ void setup()
   power_usart0_disable();
   //Serial.begin(115200);
 
- byte* emittingPointer = &animation[frame][0]; //It means the pointer, static byte frame = 19; / & : address of operator
+ byte* emittingPointer = &animation[frame][0];
  byte buttonsPort = 0;
 
  bool anyButtonPressed;
- bool buttonPressed[N_BUTTONS]; //Maybe.. N_BUTTONS = 5 means PD2 to PD7, Sensing the button action of DDRD
+ bool buttonPressed[N_BUTTONS];
  short buttonCounter = 0;
 
   LOOP:
     while(PINB & 0b00001000); //wait for pin 11 (B3) to go low 
-    // #define OUTPUT_WAVE(pointer, d)  PORTC = pointer[d*N_PORTS + 0]
+
     OUTPUT_WAVE(emittingPointer, 0); buttonsPort = PIND; WAIT_LIT();
     OUTPUT_WAVE(emittingPointer, 1); anyButtonPressed = (buttonsPort & 0b11111100) != 0b11111100; WAIT_MID();
     OUTPUT_WAVE(emittingPointer, 2); buttonPressed[0] = buttonsPort & 0b00000100; WAIT_MID();
@@ -155,6 +144,4 @@ void setup()
 
 }
 
-void loop(){
-
-}
+void loop(){}

README.md

@@ -1,4 +1,6 @@
-This branch is part of Timer/Counter code for project.
-@오준영
-Basic idea is generate the 40kHz.
-An open source code using the sync operation, so I think that can be the proper way to achieve it.
+This branch is part of Interrupt code for project.
+@김동현
+We are using three external switch to control the each transducers' phase.
+D2(PB2) is used for Up shifting the pressure trap.
+D3(PB3) is used for Down shifting the pressure trap.
+D4(PB4) is used for Reset the pressure trap.

interrupt_2.ino

@@ -0,0 +1,148 @@
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/power.h>
+#include <util/delay.h>
+
+#define N_TRANSDUCERS 24
+
+#define WAIT_LOT(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop")
+//14 clock
+
+#define WAIT_MID(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop")
+//13 clock
+
+#define WAIT_LIT(a) __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop"); __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop");  __asm__ __volatile__ ("nop")
+//9 clock
+
+#define OUTPUT_WAVE(pointer, d)  PORTC = pointer[d]
+
+#define N_BUTTONS 5
+#define BUTTON_SENS 50
+#define N_FRAMES 29
+
+volatile uint8_t frame = 19;
+volatile uint8_t pressed_button = 0;
+volatile uint8_t buttonCounter = 0;
+volatile bool anyButtonPressed = false;
+
+static uint8_t animation[N_FRAMES][N_TRANSDUCERS] = //29x24
+{
+    {0x6,0xc,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x3,0x3,0x3,0x3,0x6,0x6,0x6,0x6,0x6,0x6},
+    {0x6,0x6,0x6,0x6,0x6,0xc,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x3,0x3,0x3,0x6,0x6,0x6},
+    {0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x3,0x3},
+    {0x3,0x3,0x3,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0x3,0x3,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0xc,0x9,0x9,0x9,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x3,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0xc},
+    {0x6,0x6,0x6,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6},
+    {0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0x6,0x6,0x6,0x6,0x6},
+    {0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0x6,0x6},
+    {0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc},
+    {0x9,0x9,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3},
+    {0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3},
+    {0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x6,0x6,0x3},
+    {0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6},
+    {0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0xc,0xc,0x6,0x6},
+    {0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc},
+    {0xc,0x6,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc},
+    {0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0xc,0xc,0xc,0xc,0x6,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0xc,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9},
+    {0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x3},
+    {0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc,0x6,0x6,0x3,0x3,0x3,0x3,0x3},
+    {0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0x6,0x3,0x3,0x3},
+    {0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0x6,0x6},
+    {0x6,0x6,0x3,0x3,0x3,0x3,0x3,0x3,0x3,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0x9,0xc,0xc,0xc}
+};
+
+void initTimer() {
+    TCCR0A = (1 << WGM01);  // CTC mode
+    TCCR0B = (1 << CS01) | (1 << CS00);  // Prescaler 64
+    OCR0A = 250;  // Compare value for ~1ms interrupt
+    TIMSK0 = (1 << OCIE0A);  // Enable compare interrupt
+}
+
+void initButtons() {
+    // Set buttons as input with pull-up resistors
+    DDRD &= ~(1 << PD0) & ~(1 << PD1) & ~(1 << PD2) & ~(1 << PD3) & ~(1 << PD4);
+    PORTD |= (1 << PD0) | (1 << PD1) | (1 << PD2) | (1 << PD3) | (1 << PD4);
+}
+
+ISR(TIMER0_COMPA_vect) {
+    uint8_t buttonState = ~PIND & ((1 << PD0) | (1 << PD1) | (1 << PD2) | (1 << PD3) | (1 << PD4));
+    if (buttonState) {
+        if (!anyButtonPressed) {
+            pressed_button = buttonState;
+            anyButtonPressed = true;
+        }
+    } else {
+        anyButtonPressed = false;
+    }
+}
+
+void setup() {
+    // Initialize the microcontroller
+    cli();
+    clock_prescale_set(clock_div_1);
+    DDRC = 0xFF;  // All PORTC as output
+    initButtons();
+    initTimer();
+    sei();
+}
+
+void loop() {
+    for (uint8_t c = 0; c < N_TRANSDUCERS; c++) {
+        switch (c) {
+            case 7:
+            case 15:
+            case 23:
+                OUTPUT_WAVE(animation[frame], c);
+                WAIT_LOT(0);
+                break;
+            case 3:
+            case 11:
+            case 19:
+                OUTPUT_WAVE(animation[frame], c);
+                WAIT_MID(0);
+                break;
+            default:
+                OUTPUT_WAVE(animation[frame], c);
+                WAIT_LIT(0);
+                break;
+        }
+    }
+
+    if (anyButtonPressed) {
+        switch (pressed_button) {
+            case (1 << PD0):
+                frame = 0;
+                break;
+            case (1 << PD1):
+                frame = 5;
+                break;
+            case (1 << PD2):
+                frame = 10;
+                break;
+            case (1 << PD3):
+                frame = 15;
+                break;
+            case (1 << PD4):
+                frame = 20;
+                break;
+            default:
+                break;
+        }
+    }
+}
+
+/*
+int main() {
+    setup();
+    while (1) {
+        loop();
+    }
+    return 0;
+}
+*/