use arduino uno code, below are sample #define SET_DDRB 0x2D // b 0010 1101 #def

ID: 3599318 • Letter: U

Question

use arduino uno code, below are sample

#define SET_DDRB 0x2D // b 0010 1101
#define SET_PORTB 0x00

// PORTC.0 0x01 A0 23 I ADC0 CDS Light sensor
// PORTC.1 0x02 A1 24 O ADC1 S1
// PORTC.2 0x04 A2 25 O ADC2 S2
// PORTC.3 0x08 A3 26 O ADC3 X1
// PORTC.4 0x10 A4 27 O ADC4 X2
// PORTC.5 0x20 A5 28 O ADC5 X3
// PORTC.6 0x40 29 x RESET

#define SET_DDRC 0xFE // b 1111 1110
#define SET_PORTC 0x00

// PORTD.0 0x01 0 30 I Rx RX SERIAL Data
// PORTD.1 0x02 1 31 O Tx TX SERIAL Data
// PORTD.2 0x04 2 32 O INT0 NC
// PORTD.3 0x08 3 1 O OC2B/INT1 NC
// PORTD.4 0x10 4 2 O XCK/T0 SERVO 0
// PORTD.5 0x20 5 9 O OC0B/T1 SERVO 1
// PORTD.6 0x40 6 10 O OC0A/AIN0 SERVO 2
// PORTD.7 0x80 7 11 O AIN1 SERVO 3

#define SET_DDRD 0xFE // b 1111 1110
#define SET_PORTD 0x00

// ADC6 19 x ADC6 NC
// ADC7 22 x ADC7 NC

volatile uint8_t tick; // ++ every 4mS
uint8_t tickX;

uint8_t time4mS;
uint8_t time100mS;
uint32_t time1S;

#define TX_BUF_SIZE 64
#define TX_BUF_MASK 0x3F

#define RX_BUF_SIZE 64
#define RX_BUF_MASK 0x3F

volatile char txBuf[TX_BUF_SIZE];
volatile uint8_t txBufInPtr;
volatile uint8_t txBufOutPtr;

volatile char rxBuf[RX_BUF_SIZE];
volatile uint8_t rxBufInPtr;
volatile uint8_t rxBufOutPtr;

char cmdBuf[16];
uint8_t cmdBufPtr;

volatile uint16_t servo[4];

volatile uint8_t servoState;

#define S_HIGH 35000
#define S_LOW 45000
#define CENTER 40000

uint8_t stateA;
uint8_t stateB;
uint8_t stateC; // run servos

uint8_t sspeed;

SIGNAL(USART_UDRE_vect){
if(txBufOutPtr == txBufInPtr){
// no more char to output
UCSR0B &= ~0x20;
} else {
// we have more
UDR0 = txBuf[txBufOutPtr++];
txBufOutPtr &= TX_BUF_MASK;
}
}

SIGNAL(USART_RX_vect){
rxBuf[rxBufInPtr++] = UDR0;
rxBufInPtr &= RX_BUF_MASK;
}

SIGNAL(TIMER1_OVF_vect){
TCCR1B = 0x00; // kill timer1

switch(servoState){
case 0:
PORTD &= ~0x10; // kill servo 0
PORTD |= 0x20; // start servo 1

TCCR1A = 0x00;
TCNT1 = servo[1];
TIMSK1 = 0x01; // interrupts for timer 1 on
TCCR1B = 0x01; // start counting
servoState = 1;

break;

case 1:
PORTD &= ~0x20; // kill servo 1
PORTD |= 0x40; // start servo 2

TCCR1A = 0x00;
TCNT1 = servo[2];
TIMSK1 = 0x01; // interrupts for timer 1 on
TCCR1B = 0x01; // start counting */
servoState = 2;

break;

case 2:
PORTD &= ~0x40; // kill servo 1
break;

}
}

void inline processServos(){ // this is called every 20mS
PORTD |= 0x10;
servoState = 0;
TCCR1A = 0x00;
TCNT1 = servo[0];
TIMSK1 = 0x01; // interrupts for timer 1 on
TCCR1B = 0x01; // start counting

}

SIGNAL(TIMER0_COMPA_vect){
static uint8_t i = 0;
PINC = 0x08;
tick++;
i++;

if(i > 4){
PINC = 0x10;
i = 0;
processServos();
}

}

void busyWait(){
volatile uint32_t i;
for(i=0;i < 400000; i++){
}
}

void outCharOld(char c){
while((UCSR0A & 0x20) == 0); // we don't want to do this
UDR0 = c;
}

void outChar(char c){
txBuf[txBufInPtr++] = c;
txBufInPtr &= TX_BUF_MASK;
UCSR0B |= 0x20;
}

void printHex4(uint8_t n){
n = n & 0x0F;
n = n + '0';

if(n > '9'){
n += 7;
}

outChar(n);
}

void printHex8(uint8_t n){
printHex4(n >> 4);
printHex4(n);
}

void printHex16(uint16_t n){
printHex8(n >> 8);
printHex8(n);
}

void printHex32(uint32_t n){
printHex16(n >> 16);
printHex16(n);
}

void printStatus(){
printHex8(rxBufInPtr);
outChar(' ');
printHex32(time1S);
outChar(0x0A);
}

void printString(char *s){
while(s[0]){
outChar(s[0]);
s++;
}
}

uint16_t getArg1(){ // decimal
uint16_t n;
uint8_t i;
i = 1;
n = 0;

while(cmdBuf[i] == ' '){ i++; }
while(cmdBuf[i] >= '0' && cmdBuf[i] <= '9'){
n = n * 10;
n += cmdBuf[i] - '0';
i++;
}
outChar('[');
printHex16(n);
outChar(']');

return n;
}

void processCommand(){
outChar('(');
printString(cmdBuf);
outChar(')');
outChar(0x0A);

switch(cmdBuf[0]){
case '0':
servo[0] = getArg1();
break;

case '1':
servo[1] = getArg1();
break;

case 'a':
printString("hit an a");
servo[1] = S_HIGH;
break;
case 'b':
printString("some stuff here");

break;
case 'c': printString("other stuff"); break;
case 'd': printString("hello"); break;

case 'A':
stateA = getArg1();
break;

case 'B':
stateB = getArg1();
break;

case 'C':
stateC = getArg1();
break;

case 's':
sspeed = getArg1();
break;

}
}

void processChar(){
char c;
c = rxBuf[rxBufOutPtr++];
rxBufOutPtr &= RX_BUF_MASK;
if(cmdBufPtr < 14){
cmdBuf[cmdBufPtr++] = c;
}
if(c == 0x0D){
cmdBuf[cmdBufPtr - 1] = 0;
processCommand();
cmdBufPtr = 0;
}
}

void led1On(){
PORTB |= 0x20;
}

void led1Off(){
PORTB &= ~0x20;
}

void led2On(){
PORTB |= 0x04;
}

void led2Off(){
PORTB &= ~0x04;
}

void stateMachineA(){ // called 10 times every second
switch(stateA){
case 0:
led1On();
stateA=1;
break;
case 1:
led1Off();
stateA=2;
break;
case 2:
stateA=0;
break;
}
}

void stateMachineB(){ // called 1 times every second
switch(stateB){
case 0:
led2On();
stateB=1;
break;
case 1:
led2Off();
stateB=2;
break;
case 2:
stateB=0;
break;
}
}

void stateMachineC(){ // called 10 times every second
static uint8_t timer;

if(timer){
timer--;
}

switch(stateC){
case 0:
servo[0] = S_HIGH;
if(timer == 0){
timer = sspeed;
stateC=1;
}
break;
case 1:
servo[1] = S_HIGH;
if(timer == 0){
timer = sspeed;
stateC=2;
}
break;
case 2:
servo[0] = S_LOW;
if(timer == 0){
timer = sspeed;
stateC=3;
}
break;
case 3:
if(timer == 0){
stateC=0;
timer = sspeed;
}
servo[1] = S_LOW;
break;
}
}

void process100mS(){
stateMachineA();
stateMachineC();

}

void process1S(){
static uint8_t i=0;
stateMachineB();
printStatus();
i++;
// if(i & 0x01){
// servo[0] = S_HIGH;
// } else {
// servo[0] = S_LOW;
// }
}

int main(){

uint16_t i;

DDRB = SET_DDRB;
DDRC = SET_DDRC;
DDRD = SET_DDRD;
PORTB = SET_PORTB;
PORTC = SET_PORTC;
PORTD = SET_PORTD;

// tick timer setup
TCCR0A = 0x02;
TCCR0B = 0x04; // divide by 8
OCR0A = 250;
TIMSK0 = 0x02;
SREG |= 0x80;



// setup uart

UBRR0H = 0;
UBRR0L = 103;

UCSR0B = 0x98; // 1001 1000

tick = 0;

i = 0;

time1S = 0;

stateA = 0;
stateB = 0;
stateC = 0;
sspeed = 10;

servo[0] = CENTER;
servo[1] = CENTER;
servo[2] = CENTER;
servo[3] = CENTER;

while(1){
PINC = 0x20;

if(tick != tickX){
time4mS++;
tickX++;
if(time4mS > 24){
time100mS++;
time4mS = 0;
process100mS();
if(time100mS > 9){
time1S++;
time100mS = 0;
process1S();
}
}
}

while(rxBufInPtr != rxBufOutPtr){
processChar();
}

} // end of while(1)
}

Your job is to create a function that you call like this void setServo(uint8 t n,uint16_t p) // n is the servo we wish to set /p is the angle in degrees we want. // Each of the 4 servos will have different calibration values Your code goes here.

Explanation / Answer