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SelfParkingCars.c
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#include "SelfParkingCars.h"
#include "Sensors.h"
// page for controller controller http://www.st.com/en/microcontrollers/stm32f407vg.html
// smaller data sheet http://www.st.com/content/ccc/resource/technical/document/datasheet/ef/92/76/6d/bb/c2/4f/f7/DM00037051.pdf/files/DM00037051.pdf/jcr:content/translations/en.DM00037051.pdf
// reference manual http://www.st.com/content/ccc/resource/technical/document/reference_manual/3d/6d/5a/66/b4/99/40/d4/DM00031020.pdf/files/DM00031020.pdf/jcr:content/translations/en.DM00031020.pdf
// https://download.mikroe.com/documents/starter-boards/clicker-2/stm32f4/clicker2-stm32-manual-v100.pdf str 6, 46, 47
sbit SpinDirectionLeftWheel at ODR6_GPIOA_ODR_bit;
sbit SpinDirectionRightWheel at ODR7_GPIOA_ODR_bit;
volatile int startCounting = 0;
volatile int leftWheelStopped = 0, rightWheelStopped = 0;
// *** Initialization ***
// Interrupts
// PC1 for right wheel
// PC2 for left wheel
void InitExternIntRisingEdge_PC1_PC2()
{
GPIO_Digital_Input(&GPIOC_BASE, _GPIO_PINMASK_1);
GPIO_Digital_Input(&GPIOC_BASE, _GPIO_PINMASK_2);
// GPIO_Digital_Output(&GPIOE_BASE, _GPIO_PINMASK_12);
SYSCFGEN_bit = 1;
SYSCFG_EXTICR1 |= LEFT_WHEEL_EXT_INT_CR1_PC1 | RIGHT_WHEEL_EXT_INT_CR1_PC2;
EXTI_RTSR |= RISING_TRIGGER_PC1 | RISING_TRIGGER_PC2;
EXTI_FTSR |= RISING_TRIGGER_PC1 | RISING_TRIGGER_PC2;
EXTI_IMR |= RISING_TRIGGER_PC1 | RISING_TRIGGER_PC2;
NVIC_IntEnable(IVT_INT_EXTI1);
NVIC_IntEnable(IVT_INT_EXTI2);
}
void UpdateCurrentDuty(int,int);
void RightWheel_Interrupt() iv IVT_INT_EXTI2 ics ICS_AUTO
{ EXTI_PR.B2 = 1;
if (!startCounting) return;
--wheelInterruptCount[LEFT_WHEEL];
if (wheelInterruptCount[LEFT_WHEEL] < 0)
{
ChangeDuty[LEFT_WHEEL](0);
rightWheelStopped = 1;
}
}
void LeftWheel_Interrupt() iv IVT_INT_EXTI1 ics ICS_AUTO
{ EXTI_PR.B1 = 1;
if (!startCounting) return;
--wheelInterruptCount[RIGHT_WHEEL];
if (wheelInterruptCount[RIGHT_WHEEL] < 0)
{
ChangeDuty[RIGHT_WHEEL](0);
leftWheelStopped = 1;
}
}
// Wheels
// Decoder: CD4555B
// Decoder uses Inverted input for enable
// demultiplexer http://www.ti.com/lit/ds/symlink/cd4556b.pdf
// H bridge https://www.sparkfun.com/datasheets/Robotics/L298_H_Bridge.pdf 25-40 Khz
void InitLeftWheelPWM_Timer4_CH1_PB6()
{
GPIO_Digital_Output(&GPIOA_BASE, _GPIO_PINMASK_6);
SpinDirectionLeftWheel = FORWARD_SPIN; // Default forward spin
pwmPeriod[LEFT_WHEEL] = PWM_TIM4_Init(50000) ; // Work on frequency 20-40 Khz
pwmDuty[LEFT_WHEEL] = pwmPeriod[LEFT_WHEEL]- 650; //-700; // -750;// - 1000 ;
ChangeDuty[LEFT_WHEEL](pwmDuty[LEFT_WHEEL]);
PWM_TIM4_Start(_PWM_CHANNEL1, &_GPIO_MODULE_TIM4_CH1_PB6);
}
void InitRightWheelPWM_Timer9_CH1_PE5()
{
GPIO_Digital_Output(&GPIOA_BASE, _GPIO_PINMASK_7);
SpinDirectionRightWheel = FORWARD_SPIN; // Default forward spin
pwmPeriod[RIGHT_WHEEL] = PWM_TIM9_Init(25000);
pwmDuty[RIGHT_WHEEL] = pwmPeriod[RIGHT_WHEEL] - 1300;//-1400;//-1500;//-1650;// 27.44 us from 39.88 us (slow)
ChangeDuty[RIGHT_WHEEL](pwmDuty[RIGHT_WHEEL]);
PWM_TIM9_Start(_PWM_CHANNEL1, &_GPIO_MODULE_TIM9_CH1_PE5);
}
// *** Helper functions ***
void UpdateCurrentDuty(int updateFor, int component)
{
if (pwmDuty[component]+ updateFor < 0)
{
pwmDuty[component] = 0;
}
else
{
pwmDuty[component] += updateFor;
}
ChangeDuty[component](pwmDuty[component]);
}
// *** Tests ***
int selectedWheel = RIGHT_WHEEL;
int wheelDirection = FORWARD_SPIN;
void WheelsSpeedAndDirectionTest()
{
InitLeftWheelPWM_Timer4_CH1_PB6();
InitRightWheelPWM_Timer9_CH1_PE5();
while(1)
{
selectedWheel = wheelDirection;
Delay_ms(3000); //UpdateCurrentDuty(-500, selectedWheel);
Delay_ms(3000); //UpdateCurrentDuty(500, selectedWheel);
// When one wheel has spinned both directions, change wheel
if (wheelDirection)
{
selectedWheel = !selectedWheel;
}
else
{
// Change direction of spinning
wheelDirection = !wheelDirection;
}
}
}
void WheelsSpeedTest()
{
Delay_ms(2000);
// InitLeftWheelPWM_Timer4_CH1_PB6();
InitRightWheelPWM_Timer9_CH1_PE5();
while(pwmDuty[RIGHT_WHEEL]>0)
{
UpdateCurrentDuty(50, RIGHT_WHEEL); //left range 2290
Delay_ms(250);
}
}
int ServoPosition = 0;
void ServoPositionTest()
{
while(1)
{
ChangeDuty[FRONT_SENSOR](sensorPositions[ServoPosition]);
ChangeDuty[BACK_SENSOR](sensorPositions[ServoPosition]);
Delay_ms(500);
ServoPosition=(ServoPosition+1)%15;
}
}
void SpinAndBack()
{
Delay_ms(3000);
ChangeDuty[RIGHT_WHEEL](0);
ChangeDuty[LEFT_WHEEL](0);
SpinDirectionLeftWheel = ~SpinDirectionLeftWheel;
Delay_ms(3000);
ChangeDuty[RIGHT_WHEEL](pwmDuty[RIGHT_WHEEL]);
ChangeDuty[LEFT_WHEEL](pwmDuty[LEFT_WHEEL]);
Delay_ms(3000);
ChangeDuty[RIGHT_WHEEL](0);
ChangeDuty[LEFT_WHEEL](0);
}
void StopWheels()
{
ChangeDuty[LEFT_WHEEL](0);
ChangeDuty[RIGHT_WHEEL](0);
}
void StartWheels()
{
ChangeDuty[RIGHT_WHEEL](pwmDuty[RIGHT_WHEEL]);
ChangeDuty[LEFT_WHEEL](pwmDuty[LEFT_WHEEL]);
}
void DriveWhileParkingNotSpotted()
{
TriggerFrontSensorMeasurement();
TriggerBackSensorMeasurement();
while((GetFrontSensorDistance() - GetBackSensorDistance()) < 15)
{
// if (GetBackSensorDistance() - GetFrontSensorDistance() > 15) break;
TriggerFrontSensorMeasurement();
TriggerBackSensorMeasurement();
}
leftWheelStopped = 0;
rightWheelStopped = 0;
wheelInterruptCount[0]=60;
wheelInterruptCount[1]=60;
startCounting = 1;
StartWheels();
while (leftWheelStopped == 0 || rightWheelStopped == 0);
StopWheels();
}
void RotateFor90Right()
{
leftWheelStopped = 0;
rightWheelStopped = 0;
SpinDirectionLeftWheel = BACKWARD_SPIN;
SpinDirectionRightWheel = FORWARD_SPIN;
wheelInterruptCount[0]=52; // 63
wheelInterruptCount[1]=52; // 63
startCounting = 1;
StartWheels();
while (leftWheelStopped == 0 || rightWheelStopped == 0);
}
// http://www.ebay.com/itm/1-5A-Mini-Dual-Channel-DC-Motor-Driver-Module-Beyond-L298N-PWM-Speed-control-BDA-/162480666540?epid=779958695&hash=item25d49a37ac:g:s7kAAOSwSypY9r2g
void DriveUntillWall()
{
Delay_ms(100);
SpinDirectionLeftWheel = FORWARD_SPIN;
SpinDirectionRightWheel = FORWARD_SPIN;
startCounting = 0;
TriggerFrontSensorMeasurement();
StartWheels();
// ODR15_GPIOE_ODR_bit = 1;
while (GetFrontSensorDistance() > 8)
{
TriggerFrontSensorMeasurement();
}
// ODR15_GPIOE_ODR_bit = 0;
StopWheels();
}
void InitializeWheels()
{
InitLeftWheelPWM_Timer4_CH1_PB6();
InitRightWheelPWM_Timer9_CH1_PE5();
InitExternIntRisingEdge_PC1_PC2();
}
void main() {
// GPIO_Digital_Output(&GPIOE_BASE, _GPIO_PINMASK_15); // Led
// ODR15_GPIOE_ODR_bit = 0;
//Delay_ms(3000);
InitializeSensors();
AlignRightSensors();
Delay_ms(4000);
InitializeWheels();
DriveWhileParkingNotSpotted();
RotateFor90Right();
RotateFrontSensorFront();
DriveUntillWall();
RotateFor90Right();
while(1);
// Tests
// WheelsSpeedTest();
// InitLeftWheelPWM_Timer4_CH1_PB6();
// InitRightWheelPWM_Timer9_CH1_PE5();
//PWM_TIM4_Start(_PWM_CHANNEL1, &_GPIO_MODULE_TIM4_CH1_PB6);
//PWM_TIM9_Start(_PWM_CHANNEL1, &_GPIO_MODULE_TIM9_CH1_PE5);
// InitExternIntRisingEdge_PC1_PC2();
// SpinAndBack();
// WheelsSpeedAndDirectionTest();
// InitRightWheelPWM_Timer9_CH1_PE5();
// WheelsSpeedTest();
// ServoPositionTest();
}